Forward Kinematics

• Link Description
Industrial Robotics

• Denavit-Hartenberg Notation
• Frame Attachment
• Forward Kinematics
 Industrial Robotics

Manipulator

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Industrial Robotics Intermediate links in the chain

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Link connection

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 Summary of the link parameters in
terms of the link frames
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 Link parameters in terms of the link frames
Zi
Zi-1
ai
qi
ai
ai-1 di
Xi
Xi-1

Link i - 1 Link i

Axis i Axis i + 1
• Link length ai: distance from 𝐙i-1 to 𝐙i measured along 𝑿i
 C.B. Pham 4-19
 Link parameters in terms of the link frames
Zi
Zi-1
ai
qi
ai
ai-1 di
Xi
Xi-1

Link i - 1 Link i

Axis i Axis i + 1
• Link twist ai: the angle from 𝐙i-1 to 𝐙i measured about 𝑿i
 C.B. Pham 4-20
 Link parameters in terms of the link frames
Zi
Zi-1
ai
qi
ai
ai-1 di
Xi
Xi-1

Link i - 1 Link i

Axis i Axis i + 1
• Link offset di: distance from 𝐗i-1 to 𝐗i measured along 𝒁i-1
 C.B. Pham 4-21
 Link parameters in terms of the link frames
Zi
Zi-1
ai
qi
ai
ai-1 di
Xi
Xi-1

Link i - 1 Link i

Axis i Axis i + 1
• Joint angle qi: the angle from 𝐗i-1 to 𝐗i measured about 𝒁i-1
 C.B. Pham 4-22
 4.3. Link transformation

To describe frame {i} relative to the frame {i-1}, three

intermediate frames {P}, {Q}, and {R} are used so that
their transformation is a function of one link parameter only.

{i - 1} and {R}: di {R} and {Q}: qi

{Q} and {P}: ai {P} and {i}: ai

The transformation that transforms vectors defined in {i} to

their description in {i-1} can be written as:

 C.B. Pham 4-23

 4.3. Link transformation
{R} & {Q}: RZ(qi) ZR Zi {P} & {i}: RX(ai)
Zi-1

ZQ ai
XR
qi ZP
ai
ai-1 di
XQ XP Xi
Xi-1

Link i - 1 Link i

Axis i + 1
Axis i
{i - 1} & {R}: DZ(di) {Q} & {P}: DX(ai)
 C.B. Pham 4-24
 4.3. Link transformation

From the figure:

 C.B. Pham 4-25

 4.3. Link transformation

 C.B. Pham 4-26

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