Research on the Relationship between Classic Denavit-Hartenberg and Modified Denavit-Hartenberg

被引：7
|
作者：
Wang, Hang [1 ,2 ]
Qi, Hanghang [3 ]
Xu, Minghui [3 ]
Tang, Yanhua [4 ]
Yao, Jiantao [5 ,6 ]
Yan, Xuedong [7 ,8 ]
Li, Ming [2 ]
机构：
[1] Haitian Plast Machinery Ltd, Kempton Pk, South Africa
[2] Shanghai Univ, Shanghai 200041, Peoples R China
[3] Ningbo HAITIAN Drive Syst Co Ltd, Ningbo, Zhejiang, Peoples R China
[4] Yanshan Univ, Qinhuangdao, Peoples R China
[5] Yanshan Univ, Parallel Robot & Mech Syst Lab Hebei Prov, Minist Educ China, Qinhuangdao, Peoples R China
[6] Yanshan Univ, Key Lab Adv Forging & Stamping Technol & Sci, Minist Educ China, Qinhuangdao, Peoples R China
[7] NINGBO VEKEN BATTERY CO LTD, Ningbo, Zhejiang, Peoples R China
[8] Northeast Normal Univ, Dept Chem, Inst Funct Mat, Changchun, Peoples R China
来源：
2014 SEVENTH INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE AND DESIGN (ISCID 2014), VOL 2 | 2014年
关键词：
robot; classic Denavit-Hartenberg; modified Denavit-Hartenberg;
D O I：
10.1109/ISCID.2014.56
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Currently, homogeneous transformation method has been widely used for its advantages in robot. Its more commonly used modeling methods are classic Denavit-Hartenberg method and modified Denavit-Hartenberg method, but the relationship between the two is very few devoted. Then, the use area is limited. Therefore, the relationship between classic Denavit-Hartenberg method and modified Denavit-Hartenberg method for robotics research has important practical significance. Based on this, the geometric representations of classic Denavit-Hartenberg method and modified Denavit-Hartenberg method are described respectively, the models of link parameters are built by the two, and the corresponding transformation matrix is deduced. The relationship between classic Denavit-Hartenberg method and modified Denavit-Hartenberg method is researched deeply, and the relational expression of classic Denavit-Hartenberg method and modified Denavit-Hartenberg method is obtained. The research results of this paper are useful for the robot kinematics, dynamics and control algorithms.
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页数：4
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