Direct Kinematics Where is my hand? Direct Kinematics: HERE!

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Presentation transcript:

Direct Kinematics Where is my hand? Direct Kinematics: HERE!

Serial and Parallel Manipulators

Serial and Parallel Manipulators PUMA560 Hexapod

Links and Joints Joints: Links 2 DOF’s End Effector Robot Basis

Link Length and Twist Axis i Axis i-1 ai-1 i-1

Denavit-Hartenberg Parameters Axis i Axis i-1 ai-1 i-1 i Link i di

Link Transformation Axis i-1 Axis i di i ai-1 i-1

Example: PUMA560

DK Algorithm 1) Draw sketch 2) Number links. Base=0, Last link = n 3) Identify and number robot joints 4) Draw axis Zi for joint i 5) Determine joint length ai-1 between Zi-1 and Zi 6) Draw axis Xi-1 7) Determine joint twist i-1 measured around Xi-1 8) Determine the joint offset di 9) Determine joint angle i around Zi 10+11) Write link transformation and concatenate