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Questions tagged [dh-parameters]

Denavit–Hartenberg parameters are the parameters associated with a particular convention for attaching reference frames to the links of spatial kinematic chains, or robot manipulators.

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DH parameters for lynx robot

Can anyone help me out with DH parameters and axis placement for below kinematic chain?
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D-H parameters verification

This robot has 2 revolute joints in advance then one cylindrical joint, then one revolute joint, then another cylindrical joint, then three revolute joints at the end. There is no D-H table for that ...
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Transformation matrix using DH parameters

I want to write a Matlab function which takes the DH parameters as input and outputs a 4X4 transformation matrix. The code I have written is : ...
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DH parameters for offseted elbow joint

Below is the axis setup for the elbow joint manipulator. I am trying to workout the DH parameters for the manipulator. Green frame represents the base and frame1. Starting from there, I am able to get ...
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Coordinate system of SCARA Manipulator

I am trying to understand how to draw coordinate system for forward kinematics. Figure is Could someone please explain how is the coordinate system drawn as per DH parameter? Basically when do we ...
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Forward kinematics on Stanford manipulator

I recently had an exam in robotics and one of the questions was about forward kinematics on the Stanford manipulator below. The DH parameters were given and we were asked to calculate the angular ...
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/Forward and Inverse kinematics (manipulator for transferring scrap metal )

I'm trying to design, using Matlab, a manipulator for transferring scrap metal but I have got stuck... I want to model this manipulator in Matlab's Robotics System Toolbox. I need the D-H table, as ...
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Robot Calibration using DH parameters

I'm new in robotics. My problem is the next one: I have a 6DOF robot manipulator and because the implementation was for real-time application my calculation time had to be really fast so that I used ...
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Between which joints does a given DH table row represent?

Say for example __ _____ | | ____ --------|_____|----------| |---------|____ |__| ...
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DH Parameters with offset base

I'm looking at a pan tilt (RR) system. I want to define the kinematics between a world frame and the end effector. Every example I've seen looks at the world frame as being at the first joint (the ...
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Validation of dh parameters

I am working on a concept of robotic arm for which I have fixed DH frames and parameters. Is there any way to validate the correctness of DH parameters and frames ?
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Confusion in fixing DH frames

I am analyzing a concept of a surgical robot with 4 revolute joints and one sliding joint. I am not able to fix the coordinate frame for last prismatic joint. Following are the schematics of robot and ...
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251 views

DH- Parameters of BCN3D Arm

Consider the following Arm: https://www.bcn3dtechnologies.com/en/bcn3d-moveo-the-future-of-learning/ I looked for the DH-Parameters of this arm and I found this: ...
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DH parameters solution for forward kinematics

I am stuck at a problem of solving DH parameters for a simple test mechanism. I know that the given mechanism is a structure but just for pure academic purposes assume that it's a real system. I only ...
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DH parameters to solve forward kinematics problem

When solving the kinematics problem for a robot using DH parameters, if there are some passive joints between the actuator and the end effector, do I have to define the axis and transformations of ...
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655 views

DH Parameters of RRP planar manipulator

I have been learning forward kinematics and having some trouble with coordinate systems and dh parameters with prismatic joints. Trying to work through this question. Trying to work this out I ended ...
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DH parameters of a PUMA-type manipulator

I'm struggling to find the DH parameters for this PUMA-type manipulator that yield the same results as the author (1): The way I'm checking if the parameters I have are correct is by comparing the ...
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For the second Paden-Kahan Sub-problem, how is 'r' determined?

When using Paden-Kahan Sub-problems to solve the inverse kinematics of manipulators, 'r' is described as the intersection point between the first and second twist axes. But how is this r actually ...
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How do the joint angles of a 4-legged impact the body's position with respect to the world frame?

For a four-legged robot (like Big Dog or the one shown here) how are the joint angles and "feet" position related to the body's frame in the world/inertial frame? For example, if I know the body's ...
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Modified DH Parameters for Puma 560 - Wrong Results

In continuation of my question on modified parameter for Puma 560 posted here Modified DH Parameters for Puma 560. Further I used a available dimension for Puma 560 here (FYI: the figure shows ...
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Modified DH Parameter for Puma 560

I'm trying to apply modified DH parameters (from Craig's version) to Puma 560. As per modified DH says, And the robot Puma 560 with axes and frame are, As per above sign convention, the sign of d2 ...
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Denavit-Hartenberg Humanoid robot

In humanoid robot, Which way we determine DH Parameter: DH parameter for each leg separability. Or, DH-Parameter for two leg together. and if I can calculate from any way, what about trunk how can ...
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Which is best way to calculate inverse kinematics for scara robot?

I am working on scara robot project and I have one big confusion. I am using simple trigonometric way(tan inverse traingl formula) to calculate inverse kinematics . But lot of people suggested me to ...
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Confusion between wrist, tool and end effector

I have a confusion between the wrist frame, the tool frame and the end effector as used in the unmodified DH conventions. Can you differentiate with diagrams?
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DH parameters for PRP manipulator

Can anyone share their DH parameters for a simple PRP manipulator. I have some confusion in setting up the axes and obtaining a solution.
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Assigning parameters in perpendicular axes: D-H is a must

So I was given a course assignment to assign frames and write D-H parameters for this robot using only 5+1 frames (with Frame $\{5\}$ at $P$ and Frame $\{0\}$ at $O$). And I assigned them like this: ...
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Do DH parameters change for a scaled robot 3d model?

I have the actual DH parameters of a robot: d1 = 0.4865 m d2 = 0.600 m d3 = 0.065 m a1 = 0.150 m a2 = 0.475 m all other di's and ai's are zero. Can I use these ...
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Forward kinematics with DH parameters

I just started learning robotics at school and I have some problems to solve forward kinematics with DH parameters. I don't really understand how I can get them from the image. I would appreciate if ...
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Find orientation through Transformation matrix

I have a robot with 3 rotational joints that I am trying to simulate in a program I am creating. So I have 4 frames, one base frame, and each joint has a frame. I have 3 transformation functions to go ...
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274 views

Modified DH Parameters?

Is the notation of the geometry of robots from Khalil and Kleinfinger be considered as one of the probably "many" Modified DH Parameters?
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DH parameters and Kinematic Decoupling

Is it possible to decouple a 5DOF manipulator? This question I asked earlier and I believe I got the right answers but I never show the drawings of the manipulator and now I'm hesitating during setup ...
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Getting pitch, yaw and roll from Rotation Matrix in DH Parameter

I've calculated a DH Parameter matrix, and I know the top 3x3 matrix is the Rotation matrix. The DH Parameter matrix I'm using is as below, from https://en.wikipedia.org/wiki/Denavit%E2%80 Above is ...
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651 views

Denavit Hartenberg parameters

Can anybody help figure out HD parameters for the case where two links with a revolute joint are in the same plane, thus that the variable angle is 0, but the twist is not 0. This is a simple drawing. ...
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1answer
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Solving for DH Parameters

Given three sets of joint angles in which the end effector is in the same position, is it possible to find the DH parameters? If the robot has 2 DOF in shoulder, 2 DOF in elbow, and 1 dof in wrist, ...
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How to convert between classic and modified DH parameters?

I currently have a description of my 22 joint robot in "classic" DH parameters. However, I would like the "modified" parameters. Is this conversion as simple as shifting the $a$ and $alpha$ columns ...
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How to determine x-axis if the two z-axis are intersecting in Denavit Hartenberg representation

Suppose I have a 3 link(1 dimensional) chain in which all the joints are revolutes, the axis of first revolute joint is along Z-axis(global) and axis of second joint is along X-axis(global). The first ...
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Why do we generally prefer DH parameters over other kinematic representations of robot arms?

I am specifically interested in DH parameters versus other representations in terms of kinematic calibration. The best (clearest) source of information I could find on kinematic calibration is in the ...
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DH-Parameters for Forward Kinematics for Translatory Motion only

I am fairly new to the DH-transformation and I have difficulties to understand how it works. Why are not all coordinates (X+Y+Z) incorporated into the parameters? It seems to me that at least one ...
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Homogenous Transformation Matrix for DH parameters

I'm studying Introduction to robotic and found there is different equations to determine the position and orientation for the end effector of a robot using DH parameters transformation matrix, they ...
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523 views

DH Forward Kinematics for a Cartesian Robot (CNC Mill)

I am implementing a Denavit-Hartenberg forward transform for a 3-axes CNC mill. I know that the kinematic for such a machine is trivial and doesn't need DH, but I need to make appliable for other ...
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joint positions of a robot

I would likte to find the joints positions using joint angles, link lengths etc. How can I define the position of the each joint using DH parameters?
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Denavit-Hartenberg convention or the product of exponentials formulation, when dealing with the manipulator kinematics?

Though, Denavit-Hartenberg notation is commonly used to describe the kinematics of robot manipulator, some researcher prefer the product of exponential instead; and even the claim that it's better. ...
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DH Matrix to homogeneous transformation matrix for each joint

Given a DH matrix for a set of joints, how would you convert the data into homogeneous transformation matrices for each joint? I've looked online, but can't find a good tutorial.
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Parameter $r$ of Denavit-Hartenberg

By watching this video which explains how to calculate the classic Denavit–Hartenberg parameters of a kinematic chain, I was left with the impression that the parameter $r_i$ (or $a_i$) will always be ...
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4k views

Forward Kinematics/D-H parameters for perpendicular joint axes

I am trying to compute forward kinematics of the Kuka youBot using DH convention: http://www.youbot-store.com/youbot-developers/software/simulation/kuka-youbot-kinematics-dynamics-and-3d-model The ...
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Denavit-Hartenberg parameters for SCARA manipulator

I'm going through the textbook Robot Modeling and Control, learning about the DH convention and working through some examples. I have an issue with the following example. Given below is an image of ...
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Denavit-Hartenberg convention

There are two different conventions that can determine DH parameters. What is the difference between Craig's [1, Sec 3.4] convention and the Spong [2, Sec. 3.2] convention? I know that both methods ...
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jacobian of Abb irb140 robot

Can someone please help me with the jacobian matrix equations for Abb irb140 robot. Or an easy way by which I can derive it given the DH parameters. I need it to implement some form of control that am ...