DH Parameters

Chapter 2
Robot Kinematics: Position Analysis

Denavit-Hartenberg Representation :
@ Simple way of modeling robot links and
joints for any robot configuration,
regardless of its sequence or complexity.
@ Transformations in any coordinates

is possible.
@ Any possible combinations of joints
and links and all-revolute articulated

robots can be represented.
Fig. 2.25 A D-H representation of a general-purpose joint-link combination
Chapter 2
Chapter 2
Denavit-Hartenberg Representation procedures:
Assign joint number n to the first shown joint.

Assign a local reference frame for each and every joint
before or after these joints.
Y-axis does not used in D-H representation because
always perpendicular to both of axes.
Chapter 2
Procedures for assigning a local reference frame to each joint:
All joints are represented by a z-axis. (right-hand rule for rotational
joint, linear movement for prismatic joint)
The common normal is one line mutually perpendicular to any two
skew lines.
Parallel z-axes joints make a infinite number of common normal.
Intersecting z-axes of two successive joints make no common
normal between them.
Common normal
Chapter 2
Symbol Terminologies :
: A rotation about the z-axis.
d : The distance on the z-axis.
a : The length of each common normal (Joint offset).
: The angle between two successive z-axes (Joint twist)
Only and d are joint variables.
Chapter 2
The necessary motions to transform from one reference frame to the next.
(I)
Rotate about the zn-axis an able of n+1. (Coplanar)
(II) Translate along zn-axis a distance of dn+1 to make xn and xn+1

colinear.
Chapter 2
The necessary motions to transform from one reference

frame to the next.
(III) Translate along the xn-axis a distance of an+1 to bring the origins of xn+1 together.
Chapter 2
The necessary motions to transform from one reference

frame to the next.
(IV) Rotate zn-axis about xn+1 axis an angle of n+1 to align zn-axis with zn+1-axis.
Chapter 2
Chapter 2
Chapter 2
Chapter 2
Chapter 2
Determine the value of each joint to place the arm at a

desired position and orientation.
TH A1 A2 A3 A4 A5 A6
C1 (C234C5C6 S 234S 6 )
S S C
1 5 6
S1 (C234C5C6 S 234S 6 )
C1S5C6
S 234C5C6 C234S 6
nx
n
y
nz
ox a x p x
o y a y p y
oz a z p z
0 0 1
C1 (C234C5C6 S 234C6 )
C1 (C234S5 ) S1C5 C1 (C234a4 C23a3 C2 a2 )

S1S5C6
S1 (C234C5C6 S 234C6 )
S1 (C234S5 ) C1C5 S1 (C234a4 C23a3 C2 a2 )
C1S5C6
S 234C5C6 C234C6
S 234S5
S 234a4 S 23a3 S 2 a2
0
0
1
Chapter 2
nx
1 n y
A1
nz
ox a x p x
o y a y p y
A11[ RHS ] A2 A3 A4 A5 A6
oz a z p z
0 0 1
C1 S1
0 0
S1 C1
0 0
0 0 n x
1 0 n y
0 0 n z

0 1 0
ox a x p x
o y a y p y
A2 A3 A4 A5 A6
oz a z p z
0 0 1
Chapter 2
py
px
1 tan 1
2 tan 1
(C3a3 a2 )( pz S 234a4 ) S3a3 ( pxC1 p y S1 C234a4 )

(C3a3 a2 )( pxC1 p y S1 C234a4 ) S3a3 ( Pz S 234a4 )
S3
C
3
3 tan 1
4 234 2 3
5 tan 1
C234(C1ax S1a y ) S 234az

S1ax C1a y
6 tan 1
S 234(C1nx S1n y ) S 234nz

S 234(C1ox S1o y ) C234oz
Chapter 2
A robot has a predictable path on a straight line,

Or an unpredictable path on a straight line.
A predictable path is necessary to recalculate joint variables.
(Between 50 to 200 times a second)
To make the robot follow a straight line, it is necessary to break
the line into many small sections.
All unnecessary computations should be eliminated.
Fig. 2.30 Small sections of movement for straight-line motions
Chapter 2
Degeneracy : The robot looses a degree of freedom

and thus cannot perform as desired.
When the robots joints reach their physical limits,
and as a result, cannot move any further.
In the middle point of its workspace if the z-axes
of two similar joints becomes colinear.
Dexterity : The volume of points where one can

position the robot as desired, but not
orientate it.
Fig. 2.31 An example of a robot in a degenerate position.
Chapter 2
2.12 THE FUNDAMENTAL PROBLEM WITH D-H REPRESENTATION
Defect of D-H presentation : D-H cannot represent any motion about
the y-axis, because all motions are about the x- and z-axis.
TABLE 2.3 THE PARAMETERS TABLE FOR THE
STANFORD ARM
Fig. 2.31 The frames of the Stanford Arm.
-90
d1
90
d1
-90
90

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Chapter 2

Robot Kinematics: Position Analysis

regardless of its sequence or complexity.

@ Transformations in any coordinates

@ Any possible combinations of joints

and links and all-revolute articulated

Fig. 2.25 A D-H representation of a general-purpose joint-link combination

Assign joint number n to the first shown joint.

Only and d are joint variables.

Rotate about the zn-axis an able of n+1. (Coplanar)

(II) Translate along zn-axis a distance of dn+1 to make xn and xn+1

The necessary motions to transform from one reference

The necessary motions to transform from one reference

Determine the value of each joint to place the arm at a

C1 (C234S5 ) S1C5 C1 (C234a4 C23a3 C2 a2 )

(C3a3 a2 )( pz S 234a4 ) S3a3 ( pxC1 p y S1 C234a4 )

C234(C1ax S1a y ) S 234az

S 234(C1nx S1n y ) S 234nz

A robot has a predictable path on a straight line,

Fig. 2.30 Small sections of movement for straight-line motions

Degeneracy : The robot looses a degree of freedom

Dexterity : The volume of points where one can

Fig. 2.31 An example of a robot in a degenerate position.

Fig. 2.31 The frames of the Stanford Arm.

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