Robot Arm Kinematics=DH introppt：机器人手臂的运动学= DH introppt.ppt

Links between revolute joints ln=0 Type 3 Link Joint n+1 Joint n dn=0 Link n xn-1 xn ln=0 dn=0 Type 4 Link Origins coincide ?n-1 Joint n+1 Joint n Part of dn-1 Link n xn-1 yn-1 xn ?n Links between prismatic joints Forward and Inverse Transformations on Matrices Start point: Assign joint number n to the first shown joint. Assign a local reference frame for each and every joint before or after these joints. Y-axis is not used in D-H representation. DENAVIT-HARTENBERG REPRESENTATION PROCEDURES ? All joints are represented by a z-axis. (right-hand rule for rotational joint, linear movement for prismatic joint) The common normal is one line mutually perpendicular to any two skew lines. Parallel z-axes joints make a infinite number of common normal. Intersecting z-axes of two successive joints make no common normal between them(Length is 0.). DENAVIT-HARTENBERG REPRESENTATION Procedures for assigning a local reference frame to each joint: Chapter 2Robot Kinematics: Position Analysis ⊙ ? : A rotation about the z-axis. ⊙ d : The distance on the z-axis. ⊙ a : The length of each common normal (Joint offset). ⊙ ? : The angle between two successive z-axes (Joint twist) ? Only ? and d are joint variables. DENAVIT-HARTENBERG REPRESENTATION Symbol Terminologies Reminder: Chapter 2Robot Kinematics: Position Analysis (I) Rotate about the zn-axis an able of ?n+1. (Coplanar) (II) Translate along zn-axis a distance of dn+1 to make xn and xn+1 colinear. (III) Translate along the xn-axis a distance of an+1 to bring the origins of xn+1 together. (IV) Rotate zn-axis about xn+1 axis an angle of ?n+1 to align zn-axis with zn+1-axis. DENAVIT-HARTENBERG REPRESENTATION The necessary motions to transform from one reference frame to the next. * * * * Chapter 2Robot Kinematics: Position Analysis Fig. 2.24 Euler rotations about the current axes. ?Rotation of about -axis (z-axis of the moving frame)