Abstract :
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.
Keywords :
geometry; robot dynamics; robot kinematics; classic Denavit-Hartenberg method; geometric representations; homogeneous transformation method; link parameters; modified Denavit-Hartenberg method; robot control algorithms; robot dynamics; robot kinematics; robotics research; transformation matrix; Heuristic algorithms; Joints; Kinematics; Mechatronics; Robot kinematics; Service robots; classic Denavit-Hartenberg; modified Denavit-Hartenberg; robot;
