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Experiment - 02: Denavit and Hartenberg (DH) Parameters

The document describes an experiment using RoboAnalyzer software to determine the forward kinematics of a 2 degree of freedom robot. It explains Denavit-Hartenberg parameters and shows their application to prismatic and revolute joint manipulators with 2 degrees of freedom. The results section displays graphs of the link and joint positions for prismatic and revolute manipulators. The discussion concludes that the software allows students to learn robotics concepts through a "Model to Concept" approach and perform forward kinematics analysis through animation and graph plots.

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Manthan Singh
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63 views6 pages

Experiment - 02: Denavit and Hartenberg (DH) Parameters

The document describes an experiment using RoboAnalyzer software to determine the forward kinematics of a 2 degree of freedom robot. It explains Denavit-Hartenberg parameters and shows their application to prismatic and revolute joint manipulators with 2 degrees of freedom. The results section displays graphs of the link and joint positions for prismatic and revolute manipulators. The discussion concludes that the software allows students to learn robotics concepts through a "Model to Concept" approach and perform forward kinematics analysis through animation and graph plots.

Uploaded by

Manthan Singh
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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EXPERIMENT -02

AIM: -
To determine the forward kinematics of 2 degree of freedom of robot using Roboanalyser.

Methodology: -
RoboAnalyzer is a 3D model-based software that can be used to teach and learn the Robotics
concepts. It is an evolving product developed in Mechatronics Lab, Department of Mechanical
Engineering at IIT Delhi, New Delhi, India.
Mathematics involved in the study of robotics, e.g., forward and inverse kinematics etc. is initially
difficult to understand by students and same is the case by a teacher to convey the essence of
mathematics of robotics to the students. This is due to fact that, for example, forward and inverse
kinematics involve 3D transformations etc. It is also to be noted that the industrial robots are
represented using Denavit and Hartenberg (DH) parameters which are difficult to perceive and
visualize in 3D. RoboAnalyzer aims to ease out the above difficulties for students and teachers.

Theory: -

Denvit and Hartenberg (DH) Parameters:


A robot manipulator consists of several links connected by, usually, single degree of freedom
joints, say, a revolute or a prismatic joint. In order to control the end-effector with respect to the
base, it is necessary to find the relation between the coordinate frames attached to the end-effector
and the base. This can be obtained from the description of the coordinate transformations between
the coordinate frames attached to all the links and forming the overall description in a recursive
manner.
FIG 1: D-H Parameters for a general manipulator

1. Link Length: Link length ai is distance from zi-1 to zi measured along xi.
2. Joint Offset: Joint offset di is distance from origin of frame i-1 to the intersection xi with
zi-1, measured along zi-1.
3. Joint Angle: Joint angle θi is angle from xi-1 to xi measured in plane normal to zi-1 (right-
hand rule).
4. Twist Angle: Twist angle αi is angle between zi-1 and zi measured in plane normal to x
(right -hand rule).
FIG 2: Prismatic Joint Manipulator with 2 DOF

FIG 3: D-H parameter of two prismatic joint

FIG 4: Revolute Joint Manipulator with 2 DOF

FIG 5: D-H parameter of two revolute joint


Results: -
Graph of Link Manipulator: Prismatic

FIG 6: Graph of link Prismatic Joint Manipulator

Graph of Joint Manipulator: Prismatic

FIG 7: Graph of Joint Prismatic Joint Manipulator


Graph of Link Manipulator: Revolute

FIG 8: Graph of link Revolute Joint Manipulator

Graph of Joint Manipulator: Revolute

FIG 9: Graph of Joint Revolute Joint Manipulator


Discussions:

A 3D-model based software to learn robotics concepts is presented in this paper. It is developed
using Visual C# and OpenGL that takes the description of a serial robot with revolute joints using
DH parameters as input. A student using this software can learn DH parameters and forward
kinematics through “Model to Concept” approach, thus bypassing the modeling of robot which is
required in the commercial software. FKin analysis can be performed between initial and final
values of joint variables and the simulation data can be used to animate all the links of the robots
at the same time. Useful graph plots of end-effector position can also be drawn inside the software
and also be exported to a spreadsheet for further processing if needed

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