DH Model

DH Model

1. 1. Identify robot parameters

   • link, articulation, axes

2. 2. Assign the Z axes of each link.

   • rotation or prismatic

3. 3. Set the origins S of the reference systems.

   • Zi-1 and Zi intercept, S at the point of intersection
   • Zi-1 and Zi are parallel, S at any point in Zi
   • Zi-1 and Zi are non-coplanar, S e the intersection of the Zi axis with the common perpenticular line

4. 4. Assign the direction of the X and Y axes

   • Place X if Z:
     • Intercept: Perpenticular to the formed plane
     • Parallel: Perpenticular to the Z axes
     • Non-coplanar: Common perpenticular line
   • Right system

5. 5. Parameter table

   • Rotation around the Z axis at an angle tetha
   • Translation along the Z axis a distance d
   • Translation along the X axis a distance a
   • Rotation around the X axis an angle alpha

6. 6. Homogeneous transformation matrix.