5 Computers and Automation Engineering – “Robotic Systems”
Robotic Systems
Denavit-Hartenberg Parameters
,Forward kinematics VS. Inverse kinematics
X end-effector
(Tool)
Z Position and Orientation
Y
(𝒙 , 𝒚 , 𝒛 , 𝑹𝒙 , 𝑹𝒚 , 𝑹𝒛 )
Object (Goal)
IK
Y
FK
Base
X
Z Manipulator’s
,𝜽𝟏 , 𝜽𝟐 , ⋯ , 𝜽𝒏 , 𝒅𝟏 , 𝒅𝟐 , ⋯ , 𝒅𝒎 -
Parameters
Robotic 20-21 / Dr. Aghiad Kh. (email: )
, Manipulator's Situation
W The wrist frame
B
T The tool frame
T
The base
frame n GT
0
nT i 1iT
i 1
G The goal frame
S
The station
frame
B
GT T T T T T
B
S
S
G
B
W
W
T
T
G
Robotic 20-21 / Dr. Aghiad Kh. (email: )
Robotic Systems
Denavit-Hartenberg Parameters
,Forward kinematics VS. Inverse kinematics
X end-effector
(Tool)
Z Position and Orientation
Y
(𝒙 , 𝒚 , 𝒛 , 𝑹𝒙 , 𝑹𝒚 , 𝑹𝒛 )
Object (Goal)
IK
Y
FK
Base
X
Z Manipulator’s
,𝜽𝟏 , 𝜽𝟐 , ⋯ , 𝜽𝒏 , 𝒅𝟏 , 𝒅𝟐 , ⋯ , 𝒅𝒎 -
Parameters
Robotic 20-21 / Dr. Aghiad Kh. (email: )
, Manipulator's Situation
W The wrist frame
B
T The tool frame
T
The base
frame n GT
0
nT i 1iT
i 1
G The goal frame
S
The station
frame
B
GT T T T T T
B
S
S
G
B
W
W
T
T
G
Robotic 20-21 / Dr. Aghiad Kh. (email: )
