More Examples with DH Method

Mechanism and Robot Kinematics

2015
 Denavit-Hartenberg Forward
Kinematics
• RPP cylindrical manipulator
• http://strobotics.com/cylindrical-format-robot.htm

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Denavit-Hartenberg Forward
Kinematics How do we place the frames?

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 Step 1: Choose the z-axis for each
frame
i −1
T i =DH
• recall the Rz ,θi Ttransformation
z , d i Tx , ai Rx ,α i matrix
cθi − sθi cα i sθi sα i ai cθi 
s c c − c s a s 
=  θi θi α i θi α i i θi 

0 sα i cα i di 
 
0 0 0 1 

xˆii −1 yˆ ii −1 zˆii −1

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 Step 1: Choose the z-axis for each
ẑi ≡ frame
• axis of actuation for joint i+1
link i link i+1 link i link i+1

ẑi

joint i+1 joint i+1

ẑi

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Step 1: Choose the z-axis for each
frame

• Warning: the picture is deceiving. We do not yet know the origin of the
frames; all we know at this point is that each zi points along a joint axis

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 Step 2: Establish frame {0}
• place the origin o0 anywhere on z0
– often the choice of location is obvious
• choose x0 and y0 so that {0} is right-handed
– often the choice of directions is obvious

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Step 2: Establish frame {0}

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 Step 3: Iteratively construct {1}, {2},
... {n-1}
• using frame {i-1} construct frame {i}
– DH1: xi is perpendicular to zi-1
– DH2: xi intersects zi-1
• 3 cases to consider depending on the
relationship between zi-1 and zi

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 Step 3: Iteratively construct {1}, {2},
... {n-1}
• Case 1
– zi-1 and
zˆi −1 zi are not coplanar (skew)
shortest line between ẑi (out of page)
zˆi −1 and ẑ
i
x̂i
ai

oi point of intersection

– αi angle from zi-1 to zi measured about xi

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 Step 3: Iteratively construct {1}, {2},
... {n-1}
• Case 2
zˆi −1 ẑi
– zi-1 and zi are parallel ( αi = 0 )

oi −1 x̂i
ai
oi point of intersection

– notice that this choice results in di = 0

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 Step 3: Iteratively construct {1}, {2},
... {n-1}
• Case 3
zˆi −1
– zi-1 and zi intersect ( ai = 0 )
oi point of intersection
x̂i

(out of page) ẑi

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Step 3: Iteratively construct {1}, {2},
... {n-1}

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Step 3: Iteratively construct {1}, {2},
... {n-1}

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Step 4: Place the end effector frame

“sliding”

“normal”

“approach”

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Step 4: Place the end effector frame

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 Step 5: Find the DH parameters
• ai : distance between zi-1 and zi measured
along xi
• αi : angle from zi-1 and zi measured about xi
• di : distance between oi-1 to the intersection of
xi and zi-1 measured along zi-1
• θi : angle from xi-1 and xi measured about zi-1

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Step 5: Find the DH parameters

Link ai αi di θi
1 0 0 d1 θ1*
2 0 -90 d2* 0
3 0 0 d3* 0
* joint variable

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Step 5: Find the DH parameters

Link ai αi di θi
1 0 0 d1 θ1*
2 0 -90 d2* 0
3 0 0 d3* 0
* joint variable

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 Step 6: Compute the transformation
• once the DH
Link
parameters
a α
ared
known,
θ
it is easy
to construct1 the 0overall
0 transformation
i i i i

d θ* 1 1

2 0 -90 d2* 0
3 0 0 d3* 0
* joint variable

c1 − s1 0 0
s c 0 0 
T 10 = Rz ,θ1Tz ,d1Tx ,a1 Rx ,α1 = 1 1

0 0 1 d1 
 
0 0 0 1
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Step 6: Compute the transformation

Link ai αi di θi
1 0 0 d1 θ1*
2 0 -90 d2* 0
3 0 0 d3* 0
* joint variable

1 0 0 0
0 0 1 0 
T 12 = Rz ,θ 2 Tz ,d 2 Tx ,a2 Rx ,α 2 =
0 − 1 0 d2 
 
0 0 0 1
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Step 6: Compute the transformation

Link ai αi di θi
1 0 0 d1 θ1*
2 0 -90 d2* 0
3 0 0 d3* 0
* joint variable

1 0 0 0
0 1 0 0 
T 32 = Rz ,θ3 Tz ,d3 Tx ,a3 Rx ,α 3 =
0 0 1 d3 
 
0 0 0 1
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Step 6: Compute the transformation

c1 0 − s1 − s1d 3 
s 0 c c d 
T 30 = T 10T 12T 32 =  1 1 1 3 

 0 − 1 0 d1 + d 2 
 
0 0 0 1 

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 Spherical Wrist

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 Spherical Wrist

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 Spherical Wrist: Step 1

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 Spherical Wrist: Step 2

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 Spherical Wrist: Step 2

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 Spherical Wrist: Step 4

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 Step 5: DH Parameters

Link ai αi di θi
4 0 -90 0 θ4*
5 0 90 0 θ5*
6 0 0 d6 θ6*
* joint variable

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Step 6: Compute the transformation

c4c5c6 − s4 s6 − c4c5 s6 − s4c6 c4 s5 c4 s5 d 6 

s c c + c s − s c s + c c s s s s d 
T 36 = T 34T 54T 56 =  4 5 6 4 6 4 5 6 4 6 4 5 4 5 6

 − s5c6 s5 s6 c5 c5 d 6 
 
 0 0 0 1 

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 RPP + Spherical Wrist

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 RPP + Spherical Wrist
 r11 r12 r13 d x 
r r r d 
T 06 = T 30T 36 =  21 22 23 y 
r31 r32 r33 d z 
 
0 0 0 1

r11 = c1c4c5c6 − c1s4 s6 + s1s5c6


d z = − s4 s5 d 6 + d1 + d 2

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Stanford Manipulator + Spherical Wrist

Link ai αi di θi
1 0 -90 0 θ1*
2 0 90 d2 θ2*
3 0 0 d3* 0
4 0 -90 0 θ4*
5 0 90 0 θ5*
6 0 0 d6 θ6*
* joint variable

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 SCARA + 1DOF Wrist

Link ai αi di θi
1 a1 0 d1 θ1*
2 a2 180 0 θ2*
3 0 0 d3* 0
4 0 0 d4 θ4* * joint variable
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