Automatic Generation of the Denavit-Hartenberg Convention

Konferenz: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
07.06.2010 - 09.06.2010 in Munich, Germany

Tagungsband: ISR/ROBOTIK 2010

Seiten: 7Sprache: EnglischTyp: PDF

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Weber, Wolfgang (Hochschule Darmstadt - University of Applied Sciences, Birkenweg 8, 64295 Darmstadt, Germany)

This paper presents the automatic setup of the Denavit-Hartenberg notation for open chain robots. A graphical interface and a virtual construction kit using established joint and link symbols are provided. The user combines symbols by pick and place to define the kinematical configuration. A matrix is automatically generated that competely represents the geometric configuration. Related to this matrix the Denavit-Hartenberg notation is automatically determined - a new feature that solves the generic problem for the first time. Since the definitions resulting from the Denavit-Hartenberg convention are not unique, some additional rules and modifications in the sequence of applying the rules are used in order to obtain a unique description. Furthermore it is outlined how the presented solution can be extended to an integrated tool for the prototyping of new or modified robotic structures.