A combinatorial optimization approach to the Denavit-Hartenberg parameter assignment

Assigning a Denavit Hartenberg parameter table to a serial robot or a kinematic chain is a cumbersome task which confuses many novice roboticists. In this paper a combinatorial optimization approach to Denavit Hartenberg parameter assignment is proposed. The proposed combinatorial optimization approach eliminates the reliance on human experience when assigning Denavit-Hartenberg parameters. Using practical insights the parameter assignment problem is transferred from a continuous search space to a discrete search space hence enabling the use of combinatorial optimization techniques. The search space is reduced below a limit which makes the application of exhaustive search and branch and bound optimization techniques practicable. An algorithm is described which is capable of generating all practical Denavit Hartenberg parametrizations of a kinematic chain (including dummy frames) within an acceptable time frame. The obtained results are ranked based on a proposed criterion.