Vector-algebra approach to extract Denavit-Hartenberg parameters of assembled robot arms

Author:: Barker, L. K.
Published:: Aug 1, 1983.
Physical Description:: 1 electronic document

Online Version

hdl.handle.net , Connect to this object online.

Availability

Finding items...

Restrictions on Access:

Unclassified, Unlimited, Publicly available.
Free-to-read Unrestricted online access

Summary:

The Denavit-Hartenberg parameters characterize the joint axis systems in a robot arm and, naturally, appear in the transformation matrices from one joint axis system to another. These parameters are needed in the control of robot arms and in the passage of sensor information along the arm. This paper presents a vector algebra method to determine these parameters for any assembled robot arm. The idea is to measure the location of the robot hand (or extension) for different joint angles and then use these measurements to calculate the parameters.

Other Subject(s):

NUMERICAL ANALYSIS

Collection:

NASA Technical Reports Server (NTRS) Collection.

Note:

Document ID: 19830026390.
Accession ID: 83N34661.
NAS 1.60:2191.
L-15621.
NASA-TP-2191.

Terms of Use and Reproduction:

No Copyright.

View MARC record | catkey: 15711523