Day 7.2 - Denavit-Hartenberg T ii 1 Rz,i Tz,di Tx,ai Rx,i...

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Unformatted text preview: Denavit-Hartenberg T ii 1 Rz ,i Tz ,di Tx,ai Rx,i ci si c i si s i ai ci s ci c i ci s i ai si i 0 s i c i di 0 0 1 0 ai link length link twist link offset joint angle 1/25/2012 i di i 6 Denavit-Hartenberg 7 1/25/2012 Denavit-Hartenberg notice the form of the rotation component ci si c i si s i si ci c i ci s i 0 s i c i this does not look like it can represent arbitrary rotations can the DH convention actually describe every physically possible link configuration? 8 1/25/2012 Denavit-Hartenberg yes, but we must choose the orientation and position of the frames in a certain way (DH1) ^ ^ x1 z0 ^ ^ x1 intersects z0 (DH2) claim: if DH1 and DH2 are true then there exists unique numbers a, d , , such that T10 R z , Dz ,d Dx,a R x, 9 1/25/2012 Denavit-Hartenberg proof: on blackboard in class 10 1/25/2012 ...
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This note was uploaded on 02/13/2012 for the course CSE 4421 taught by Professor Burton during the Winter '11 term at York University.

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Day 7.2 - Denavit-Hartenberg T ii 1 Rz,i Tz,di Tx,ai Rx,i...

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