DocumentCode :
3223165
Title :
Manipulator modeling from D-H parameters
Author :
Roh, Ho-Sik ; Kim, Jin-Oh
Author_Institution :
Dept. of Inf. & Control Eng., Kwangwoon Univ., Seoul, South Korea
Volume :
3
fYear :
2004
fDate :
2-6 Nov. 2004
Firstpage :
2480
Abstract :
We propose a new method of robot manipulator modeling. Previous approaches are based on CAD data or Robot library provided by manufacturers. Our modeler provides two approaches of modeling that can be used by ordinary robot researchers. The first approach is to make a robot model composed of modules created by modifying modules from module library. Second approach is to make a robot model using our module designer with a given set of D-H parameters. The D-H parameters are derived from kinematic design based on a given task. In this paper, we introduce our modeler and the second approach.
Keywords :
control system CAD; libraries; manipulator kinematics; CAD data; D-H parameters; kinematic design; module designer; ordinary robot researchers; robot manipulator modeling; robot module library; Computer aided manufacturing; Design automation; Joints; Kinematics; Libraries; Manipulators; Robots; Skeleton; Solid modeling;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics Society, 2004. IECON 2004. 30th Annual Conference of IEEE
Print_ISBN :
0-7803-8730-9
Type :
conf
DOI :
10.1109/IECON.2004.1432190
Filename :
1432190
Link To Document :
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