Prof. S.K.

Saha
DH Parameters 1
DenavitHartenberg
Parameters
Lecture 9 June 17, 2009
Prof. S.K. Saha
Dept. of Mech. Eng. Dept. of Mech. Eng.
IIT Delhi IIT Delhi
Announcement
Some correctionsinChapter5.Kindly
downloadthepresentch5.pdf.
AppendixA(MathematicalFundamentals)of
thebookisavailablefrom:
http://web.iitd.ac.in/~saha/ethiopia/chA.pdf
(Thiswillbeusedlater.Kindlyread.)
OutlinesoftodaysLecture9isuploadedas
http://web.iitd.ac.in/~saha/ethiopia/09lec.pdf
ReviewofLecture8
Euleranglerepresentationisexplained Euleranglerepresentationisexplained
12combinationsarepossible 12combinationsarepossible
ZYZEuleranglesareexplained ZYZEuleranglesareexplained
Generalcoordinatetransformationispresented Generalcoordinatetransformationispresented pp
Homogenoustransformationisdefined Homogenoustransformationisdefined
Notcommutative Notcommutative
Inverseiscalculated Inverseiscalculated
Exampleswereshown Exampleswereshown
Questions/Doubts/Comments?
Outline
DenavitHartenberg(DH)parameters
Frameallotment
Definitionoftheparameters
T f i b DH f TransformationbetweenDHframes
Examples
DenavitHartenberg(DH)
Parameters
Frameallotment
FrompresentationofLecture8
Fourparameters
Prof. S.K. Saha
DH Parameters 2
b
i
(Jointoffset):Lengthoftheintersectionsof
thecommonnormalsonthejointaxisZ
i
,i.e.,
O
i
andO
i
.Itistherelativepositionoflinks
i 1andi.Thisismeasuredasthedistance
betweenX
i
andX
i +1
alongZ
i
.

i
(Joint angle): Angle between the orthogonal
i
(Jointangle):Anglebetweentheorthogonal
projectionsofthecommonnormals,X
i
and
X
i +1
,toaplanenormaltothejointaxesZ
i
.
Rotationispositivewhenitismadecounter
clockwise.Itistherelativeanglebetweenlinks
i 1andi.Thisismeasuredastheangle
betweenX
i
andX
i +1
aboutZ
i
.
a
i
(Linklength):LengthbetweentheO
i
and
O
i +1.
Thisismeasuredasthedistance
betweenthecommonnormalstoaxesZ
i
and
Z
i +1
alongX
i +1
.

i
(Twistangle):Anglebetweenthe
orthogonalprojectionsofjointaxes,Z
i
andZ
i+1
ontoaplanenormaltothecommonnormal.
Thisismeasuredastheanglebetweenthe
axes,Z
i
andZ
i +1
,aboutaxisX
i +1
tobetaken
positivewhenrotationismadecounter
clockwise.
VariableDHParameters
Firsttwoparameters,b
i
and
i
,definethe
relativepositionoflinksi 1andi
Lasttwoparameters,a
i
and
i
,describethe
size and shape of link i that are always sizeandshapeoflinki thatarealways
constant.
Parameters,b
i
and
i
,arevariable

i
isvariableifjointi isrevolute
b
i
isvariableifjointi isprismatic.
T
b
=

1 0 0 0
1 0 0
0 0 1 0
0 0 0 1
i
b
. . . (5.49a)
DHFrameTransformations
Translation along Z
i

T

1 0 0 0
0 1 0 0
0 0
0 0
i i
i i
C S
S C
. . . (5.49b)
Rotation about Z
i
T
a
=

1 0 0 0
0 1 0 0
0 0 1 0
0 0 1
i
a
. . . (5.49c)
Translation along X
i+1
Rotationabout X

1 0 0 0
0 0
0 0
0 0 0 1
i i
i i
C S
S C
T

=
. . . (5.49d)
Rotation about X
i+1
T
i
=T
b
T

T
a
T

. . . (5.50a)
T =

i i i i i i i
i i i i i i i
S a S C C C S
C a S S C S C
. . . (5.50b)
Total transformation fromFrame i to Frame i+1
T
i

1 0 0 0
0
i i i
b C S
( )
Prof. S.K. Saha
DH Parameters 3
ThreelinkPlanarArm
DH-parameters
Link b
i

i
a
i

i
1 0
1
(J V) a
1
0
2 0
2
(J V) a
2
0
3 0 (J V) a 0
T
i
=

1 0 0 0
0 1 0 0
0
0
i i i i
i i i i
S a C S
C a S C
, for i=1,2,3
3 0
3
(J V) a
3
0
Frametransformations(Homogeneous)
RevolutePrismaticPlanar Arm
DH-parameters
Link b
i

i
a
i

i
1 0
1
(J V) 0 /2
2 b
2
(J V) 0 0 0
o
Frametransformations(Homogeneous)
T
1
=

1 0 0 0
0 0 1 0
0 0
0 0
1 1
1 1
C S
S C
T
2
=

1 0 0 0
1 0 0
0 0 1 0
0 0 0 1
2
b
PrismaticRevolutePlanar Arm
DH-parameters
Link b
i

i
a
i

i
1 b
2
(J V) -/2 0 /2
2 0
2
(J V) a
2
/2
Frametransformations(Homogeneous)
T
1
= T
2
=

1 0 0 0
0 1 0
0 1 0 0
0 0 0 1
1
b

1 0 0 0
0 1 0 0
0
0
2 2 2 2
2 2 2 2
S a C S
C a S C
SphericaltypeArm
DH-parameters
Link b
i

i
a
i

i
1 0
1
(J V) 0 / 2
2 b
2

2
(J V) 0 / 2
3 b
3
(J V) 0 0 0
T
1
=

1 0 0 0
0 0 1 0
0 0
0 0
1 1
1 1
C S
S C
T
2
=

1 0 0 0
0 1 0
0 0
0 0
2
2 2
2 2
b
C S
S C
Frametransformationsfor Spherical arm
T
3
=

1 0 0 0
1 0 0
0 0 1 0
0 0 0 1
3
b
. . . (5.54)
Summary
DenavitHartenberg(DH)parameters
DHframes
Definitions
DH f f i DHframetransformations
Examples
Threelinkplanararm
RPandPRarms
Spatialarm
Prof. S.K. Saha
DH Parameters 4
h @ h ii d i
Thank You Thank You
saha@mech.iitd.ac.in
sahaiitd@gmail.com
http://web.iitd.ac.in/~saha