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A Kinematic Notation For Lower-Pair Mechanisms Based On Matrices

The document discusses robot kinematics and describes how the transformation in a robot joint is defined by 4 parameters. It also references a 1955 paper on using matrices for kinematic notation of lower pair mechanisms and shows an example of simulating a 6 axis robot in MATLAB.

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Socratis Komaris
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402 views45 pages

A Kinematic Notation For Lower-Pair Mechanisms Based On Matrices

The document discusses robot kinematics and describes how the transformation in a robot joint is defined by 4 parameters. It also references a 1955 paper on using matrices for kinematic notation of lower pair mechanisms and shows an example of simulating a 6 axis robot in MATLAB.

Uploaded by

Socratis Komaris
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Advanced Robotics

Lecture 4

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Transformation in a joint is described by 4 parameters

R. S. Hartenberg and J. Denavit, A kinematic notation for lower pair mechanisms based
on matrices, Journal of Applied Mechanics, vol. 77, pp. 215221, June 1955.

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Transformation in a joint is described by 4 parameters

R. S. Hartenberg and J. Denavit, A kinematic notation for lower pair mechanisms based
on matrices, Journal of Applied Mechanics, vol. 77, pp. 215221, June 1955.

[email protected]

Transformation in a joint is described by 4 parameters

R. S. Hartenberg and J. Denavit, A kinematic notation for lower pair mechanisms based
on matrices, Journal of Applied Mechanics, vol. 77, pp. 215221, June 1955.

[email protected]

[email protected]

Transformation in a joint is described by 4 parameters

R. S. Hartenberg and J. Denavit, A kinematic notation for lower pair mechanisms based
on matrices, Journal of Applied Mechanics, vol. 77, pp. 215221, June 1955.

[email protected]

Transformation in a joint is described by 4 parameters

R. S. Hartenberg and J. Denavit, A kinematic notation for lower pair mechanisms based
on matrices, Journal of Applied Mechanics, vol. 77, pp. 215221, June 1955.

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Transformation in a joint is described by 4 parameters

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Transformation in a joint is described by 4 parameters

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RV-6S/6SC

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MATLAB simulation in ROBOT toolbox:


mRV6S =
RV-6S (6 axis, RRRRRR) [Mitsubishi] <home = [0.000000 -1.047198 -0.523599 0.000000 0.785398 0.000000]>
grav = [0.00 0.00 9.81]
alpha_i
a_i
theta_i
d_i
R/P
standard D&H parameters
-1.570796
85.000
parameter
350.000
R
(std)
0.000000
280.000
parameter
0.000
R
(std)
-1.570796
100.000
parameter
0.000
R
(std)
1.570796
0.000
parameter
315.000
R
(std)
-1.570796
0.000
parameter
0.000
R
(std)
0.000000
0.000
parameter
85.000
R
(std)

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