More Denavit-Hartenberg Examples

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Presentation transcript:

More Denavit-Hartenberg Examples Day 09 More Denavit-Hartenberg Examples 5/5/2019

Step 5: Find the DH parameters Link ai di qi 1 d1 q1* 2 -90 d2* 3 d3* * joint variable 5/5/2019

Step 6: Compute the transformation once the DH parameters are known, it is easy to construct the overall transformation Link ai di qi 1 d1 q1* 2 -90 d2* 3 d3* * joint variable 5/5/2019

Step 6: Compute the transformation Link ai di qi 1 d1 q1* 2 -90 d2* 3 d3* * joint variable 5/5/2019

Step 6: Compute the transformation Link ai di qi 1 d1 q1* 2 -90 d2* 3 d3* * joint variable 5/5/2019

Step 6: Compute the transformation 5/5/2019

Spherical Wrist 5/5/2019

Spherical Wrist 5/5/2019

Spherical Wrist: Step 1 5/5/2019

Spherical Wrist: Step 2 5/5/2019

Spherical Wrist: Step 2 5/5/2019

Spherical Wrist: Step 4 5/5/2019

Step 5: DH Parameters Link ai di qi 4 -90 q4* 5 90 q5* 6 d6 q6* -90 q4* 5 90 q5* 6 d6 q6* * joint variable 5/5/2019

Step 6: Compute the transformation 5/5/2019

RPP + Spherical Wrist 5/5/2019

RPP + Spherical Wrist 5/5/2019

Stanford Manipulator + Spherical Wrist Link ai di qi 1 -90 q1* 2 90 d2 q2* 3 d3* 4 q4* 5 q5* 6 d6 q6* * joint variable 5/5/2019

SCARA + 1DOF Wrist Link ai di qi 1 a1 d1 q1* 2 a2 180 q2* 3 d3* 4 d4 d1 q1* 2 a2 180 q2* 3 d3* 4 d4 q4* * joint variable 5/5/2019