4
$\begingroup$

For examples if i have this robotic arm: Example, for the base rotation (5th DOF in the clip at 0:58), we know that the Z axis for that joint will be the same as the Z axis for the base frame{0}, but I don't know about Y and Z axises of the base rotation respects to the base frame, should they be the same or not ?

And one more thing, for defining the frame of the base rotation (at 0:58 in the clip), the vertical arm pitch (at 0.47 in the clip) and the horizontal arm pitch (at 0:46 in the clip), it's pretty easy, but I don't know how to continue for defining the frame of wrist roll (at o.12 in the clip) and wrist pitch (0.23 in the clip) since the angle between the Z axis of wrist roll and the wrist pitch is now 90o.
Thank you very much.

Improve this question
$\endgroup$
1
  • $\begingroup$ I've no idea what you're on about but my 2p is, my triangle insect will trounch your infertile worm... super dudes ;) $\endgroup$
    – MadusDogus
    Commented Dec 6, 2013 at 14:43

1 Answer 1

Reset to default
2
$\begingroup$

Follow the Denavit-Hartenburg parameters, and you'll get easy equations for the transformation matrices between each frame.

  • The $z_n$-axis is in the direction of the $(n+1)^{th}$ joint axis
  • The $x_n$-axis is collinear to the common normal: $x_n = z_n × z_{n-1}$ If there is no unique common normal (parallel $z$ axes), the direction of $x_n$ is from $z_{n-1}$ to $z_n$.
  • The $y$-axis follows from the $x$- and $z$-axis by choosing it to be a right-handed coordinate system.
Improve this answer
$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Not the answer you're looking for? Browse other questions tagged or ask your own question.