1. More Denavit-Hartenberg Examples
Day 09
More Denavit-Hartenberg Examples
5/5/2019

2. Step 5: Find the DH parameters
Link ai di qi 1 d1
q1* 2
-90
d2* 3
d3*
* joint variable
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3. Step 6: Compute the transformation
once the DH parameters are known, it is easy to construct the overall transformation
Link ai di qi 1 d1
q1* 2
-90
d2* 3
d3*
* joint variable
5/5/2019

4. Step 6: Compute the transformation
Link ai di qi 1 d1
q1* 2
-90
d2* 3
d3*
* joint variable
5/5/2019

5. Step 6: Compute the transformation
Link ai di qi 1 d1
q1* 2
-90
d2* 3
d3*
* joint variable
5/5/2019

6. Step 6: Compute the transformation
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7. Spherical Wrist
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8. Spherical Wrist
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9. Spherical Wrist: Step 1
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10. Spherical Wrist: Step 2
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11. Spherical Wrist: Step 2
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12. Spherical Wrist: Step 4
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13. Step 5: DH Parameters Link ai di qi 4 -90 q4* 5 90 q5* 6 d6 q6*
-90
q4* 5 90
q5* 6 d6
q6*
* joint variable
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14. Step 6: Compute the transformation
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15. RPP + Spherical Wrist
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16. RPP + Spherical Wrist
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17. Stanford Manipulator + Spherical Wrist
Link ai di qi 1
-90
q1* 2 90 d2
q2* 3
d3* 4
q4* 5
q5* 6 d6
q6*
* joint variable
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18. SCARA + 1DOF Wrist Link ai di qi 1 a1 d1 q1* 2 a2 180 q2* 3 d3* 4 d4d1
q1* 2 a2
180
q2* 3
d3* 4 d4
q4*
* joint variable
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