MEC5156 RoboticsPython

Java Python Department of Mechanical and Aerospace Engineering

MEC5156 Robotics

DH Notation

Assigning DH parameters follows a strict set of rules to reduce the chance of ambiguity in your frame assignments. A summary of this process is as follows, referenced to Introduction to Robotics: Mechanics and Control by J. Craig.

Note: i is the frame number, where i = 0 is the base frame. In assigning DH parameters, we always work from frame 1 (i = 1), not from the base frame. N is the number of links.

1. Draw a rough sketch of the manipulator under analysis.

2. Define the locations of all Z^ axes from frames 1 to N. If the base frame {0} is not defined,

do not define ithere.

3. Link allZ(^) axes as follows:

(a) Identify and mark where any Z^i and Z^i+1 axes intersect, or if they don't intersect,

(b) Draw a common perpendicular line between the two Z^ axes. Identify  and mark

where these perpendicular lines intersect on both Z^ axes.

4. For eachZ(^)i axis from frame 1 toN, assign the origin of frame i to an identified point on the axis. That is either,

(a) Where your current Z^i axis intersects with the next Z^i+1 axis, or

(b) Where your Z^i axis meets the common perpendicular line to the next Z^i+1 axis.

5. Assign the X^ axis for each frame. The following rules apply:

(a) At frame i, if the current Z^i  axis and next Z MEC5156 RoboticsPython ^i+1  intersect, the X^i  axis must point normal to the plane containing the two Z^ axes, or

(b) If there is a common perpendicular line to Z^i+1 , the X^i axis is coincident with this line.

6. Assign the remaining Y^ axis to each frame for completion.

7. Assign the base frame {0} to be coincident with frame {1} if the base frame has not been arbitrarily defined. This is done so that moving from frame {0} to {1} is  pure rotation  or translation with no other offsets.

8. Fill out the rows of the DH table as follows. Starting from frame {1} (i = 1):

•    ai一1=the distance from Z^i一1 to Z^i measured along X^i一1 ;

•    αi一1=the angle from Z^i一1 to Z^i measured about X^i一1 ;

•   di=the distance from X^i一1 to X^i measured along Z^i ;

•    θi =the angle from X^i一1 to X^i measured about Z^i.

9. Use equation below to convert DH parameters into a transformation matrix, starting with i = 1.

 

The short-handed notation used is as follows:

Sinθi  = Si

CoS θi  = Ci

The following trigonometry identities were used to simplify answers:

cos(θ1 + θ2) = C12  = C1 C2 — S1S2,  sin(θ1 + θ2) = S12 = C1S2  + S1C2

cos(θ1 — θ2) = C1 C2  + S1S2,  sin(θ1 — θ2) = S1 C2 — C1S2

Note: There is no short-handed notation for subtracted parameters inside sine or cosine