Manipulator Kinematics
DH Parameters (modified)
Procedures to set up frames all each joint:
- Identify the joint axes
- Identify the common perpendicular between them, choose its intersection with i-th axis as origin of {i}. (if parallel, any point can be chosen )
- Assign z along i-th axis
- Assign x along common perpendicular
- Assign y to complete a right-hand coordinate system
- Assign {0} to match {1} when the first joint variable is zero. For {N}, choose an origin location and x direction freely, but generally so as to cause as many linkage parameters as possible to become zero.
Parameters:
- a: translate along x, align z
- alpha: rotate around x, align z
- d: translate along z, align origin
- theta: rotate around z, align x
Transformation matrix formula see book (3-6)
Get forward kinematics formula by multiplying all transformation matrix together.