Publication Type : Conference Paper
Publisher : The 2nd Joint International Conference on Multibody System Dynamics
Source : The 2nd Joint International Conference on Multibody System Dynamics (2012)
Url : http://www.rajeevlochana.com/wp-content/uploads/2015/01/IMSD2012_rajeevlochana.pdf
Campus : Bengaluru
School : School of Engineering
Department : Mechanical
Year : 2012
Abstract : Serial manipulators/robots are used extensively in industries to perform various tasks such as pick-andplace operation, painting, arc-welding, assembly of components etc. To perform tasks accurately, exact
kinematic parameters of the manipulator are required. Note that these parameters are generally
represented using the well-known Denavit-Hartenberg (DH) parameters. Typically, a set of nominal DH
parameters are provided by the robot manufacturers, which may not be exact due to assembly errors etc.
Hence, there is a need to know them exactly. In this paper, a novel analytic method is proposed to extract
DH parameters of a robot manipulator. For this, each joint axis of a manipulator consisting of a direction
and a point on it are provided as input to the proposed algorithm. The exact DH parameters are then
extracted recursively from base link to the end-effector using the concepts of Plücker coordinates and
Dual Vector Algebra. The algorithm has been implemented as an addin/plugin inside Autdoesk Inventor
CAD software, which determines the DH parameters of a serial manipulator from its CAD model.
Cite this Research Publication : Rajeevlochana G. Chittawadigi, Subir Kumar Saha, and Shivesh Kumar, “Automatic Extraction of DH Parameters of Serial Manipulators using Line Geometry”, in The 2nd Joint International Conference on Multibody System Dynamics, 2012.