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

被引：8

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.

引用

页数：4

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