[1]
Nan Li, School of Mechanical Engineering, Jiangnan University, Wuxi, China.
[2]
Xueliang Ping, Jiangsu Province Key Laboratory of Advanced Food Manufacturing Equipment and Technology, Wuxi, China.
A robot manipulator consists of several links connected by usually of single degree of freedom joints say, a revolute or a prismatic joint. In order to control the end-effector with respect to the base, it’s necessary to find a relation between the end-effector and the base. The D-H parameter modeling method is the most popular due to the simplicity and validity. This paper studies two different D-H parameter modeling methods. The D-H parameter was proposed by Denavit and Hartenberg to represent a directed the axis line of a lower pair joint. However, in the subsequent application process, Paul and Craig improved them one after another to facilitate calculation and memory, which are respectively called Standard D-H parameter modeling method and Modified D-H parameter modeling method. However, some literatures show that the difference between the two methods in practical application is somewhat confusing. For example, someone attaches the coordinate frames through Standard DH modeling method, but calculate through the homogeneous transformation matrix of the Modified D-H parameter modeling method, which makes wrong model. Since most robotic mechanisms are essentially designed for motion, the kinematic modeling of a robot manipulator is very important that describes the relationship between the links and joints. This paper studies two different D-H parameter modeling methods. Both methods are here presented and compared and the tips to distinguish them are provided. Finally, the simulation of Staubil TX60L is carried out by using two
Standard Denavit-Hartenberg Parameter, Modified Denavit-Hartenberg Parameter, Robot, Simulation
[1]
Shiming Ji, Xihuan Huang. Overview of the Development and Application of Industrial Robot Technology [J]. Mechanical and Electrical Engineering, 2015, 32 (01): 1-13.
[2]
Wang Huiyong, Xingli, Li Xiangman, et al. [J]. Application status and development analysis of industrial robots [J]. Electromechanical technology, 2018, (6): 115-117. DOI: 10.19508/j.cnki. 1672-4801.2018.06.034.
[3]
S K SAHA. Introduction to Robotics [M]. Beijing: China Machine Press, 2010: 100-101.
[4]
DENAVIT J, HARTENBERG R S. A kinematic notation for lower-pair mechanisms based on matrices [J]. Trans of the Asme. Journal of Applied Mechanics, 1955, 22: 215-221.
[5]
WALDRON K J. A study of overconstrained linkage geometry by solution of closure equations — Part 1. Method of study [J]. Mechanism & Machine Theory, 1973, 8 (1): 95-104.
[6]
PAUL R P. Robot manipulators: mathematics, programming, and control. The Computer Control of Robot Manipulators [M]. The MIT Press, 1981: 51-53.
[7]
CRAIG J J. Introduction to Robotics: Mechanics and Control, 3/E [M]. Pearson Education, Inc, 2005: 64-69.
[8]
HE X X, TIAN W, ZENG Y F, et al. Robot positioning error and residual error compensation for aircraff assembly [J]. Acta Aeronautica et Astronautica Sinica, 2017, 38 (4): 420538.
[9]
Gaoyi, Ma Guoqing, Yu Zhenglin, Cao Guohua. Kinematics analysis and three-dimensional visualization simulation of a six-degree-of-freedom industrial robot [J]. China Mechanical Engineering, 2016, 27 (13): 1726-1731.
[10]
Wang Mulan, Xu Kaiyun, Rao Huaqiu, Zhang Sidi. Inverse kinematics solution of multi-joint robot based on improved BP neural network [J]. Journal of Nanjing University of Aeronautics and Astronautics, 2006 (S1): 83-87.
[11]
John J. Craig. Introduction to robotics mechanics and control [M]. Beijing: China Machine Press, 2006: 29-32.
[12]
Cai Zixing. Fundamentals of Robotics [M]. Beijing: China Machine Press, 2009.5: 18-22.
[13]
Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo. Robotics: modeling, planning and control [M]. Xi’an: Xi’an Jiaotong University Press, 2013.11: 44-48.
[14]
Hang Wang, Hanghang Qi, Minghui Xu, et al. Research on the Relationship between Classic Denavit-Hartenberg and Modified Denavit-Hartenberg [C].//2014 Seventh International Symposium on Computational Intelligence and Design, vol. 2: 2014 Seventh International Symposium on Computational Intelligence and Design (ISCID 2014), 13-14 December 2014, Hangzhou, China. 2014: 26-29.n
[15]
Ming Tan, De Xu, et al. Advanced Robot Control [M]. Higher Education Press, 2007: 39-46.
[16]
(2019) The mathworks wedsite. Available: https://ww2.mathworks.cn/matlabcentral/fileexchange/14886-robotic-toolbox?s_tid=srchtitle
[17]
(2019) Petercorke website. Available: http://petercorke.com/wordpress/toolboxes/robotics-toolbox.
