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Enhanced D-H: an improved convention for establishing a robot link coordinate system fixed on the joint

Fayong Guo (School of Intelligent Manufacturing, Changzhou Vocational Institute of Engineering, Changzhou, China and Department of Automation, University of Science and Technology of China, Hefei, China)
Hao Cai (Changzhou Vocational Institute of Engineering, School of Intelligent Manufacturing, Changzhou, China)
Marco Ceccarelli (LARM Laboratory of Robotics and Mechatronics, DICEM-University of Cassino, Cassino, Italy)
Tao Li (Changzhou Vocational Institute of Engineering, School of Intelligent Manufacturing, Changzhou, China)
Butang Yao (Intelligent Equipment Center, Changzhou Kaidi Electric Appliance, Changzhou, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 7 January 2020

Issue publication date: 23 March 2020

224

Abstract

Purpose

Robot kinematic modeling needs to be based on clear physical concepts. The widely used Denavit–Hartenberg (D–H) convention requires the coordinate system to be established on an extension of the axis. This leads to non-trivial problems which this study seeks to address by developing an improved convention.

Design/methodology/approach

First, the problems associated with the traditional D–H convention are systematically analyzed. Then, pursuant of solving these problems, an enhanced Denavit–Hartenberg (ED–H) convention is proposed, and a procedure is delineated for establishing the coordinate frame and obtaining the associated parameters. The transformation equations are derived based on a homogeneous matrix. The characteristics of traditional D–H and ED–H with regard to kinematics and dynamics are comprehensively compared. Finally, an application of dynamics for lead-through programming and collision protection is undertaken to validate the proposed ED–H method. Simulations and experiments are carried out using the Tiansui-One cooperative robot platform with the aim of exploring the merits of the proposed convention.

Findings

The proposed convention is compatible with traditional methods and can solve the problems inherent in these methods. The main characteristic of ED–H is that the coordinate system is fixed on the joint, which is a general modeling method.

Originality/value

An enhanced D–H convention is proposed to establish a unified, intuitive and accurate link model that exhibits stronger adaptability than traditional D–H and can be used effectively in kinematic and dynamic modeling of mechanical arms.

Keywords

Acknowledgements

This project is supported in part by the Natural Science Research Project of Colleges and Universities of Jiangsu Province (grant no. 19KJB410001), National Natural Science Foundation of China (grant no. 51705500) and the Key Research and Development Plan of Jiangsu Province (grant no. BE2017007-1).

Citation

Guo, F., Cai, H., Ceccarelli, M., Li, T. and Yao, B. (2020), "Enhanced D-H: an improved convention for establishing a robot link coordinate system fixed on the joint", Industrial Robot, Vol. 47 No. 2, pp. 197-205. https://doi.org/10.1108/IR-09-2019-0185

Publisher

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Emerald Publishing Limited

Copyright © 2019, Emerald Publishing Limited

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