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1
Lin, Psang Dain, and Jung-Fa Hsieh. "A New Method to Analyze Spatial Binary Mechanisms With Spherical Pairs." Journal of Mechanical Design 129, no. 4 (2006): 455–58. http://dx.doi.org/10.1115/1.2437782.
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One of the most popular mathematical tools in the fields of robotics and mechanisms is the Denavit-Hartenberg (DH) notation (Denavit and Hartenberg, 1955, J. Appl. Mech., 77, pp. 215–221). It is valid only for mechanisms containing prismatic, revolute, helical, and cylindrical pairs, but cannot be applied to spherical pairs. This paper presents an extended DH notation that includes spherical pairs, consequently allowing the required independent parameters of any spatial binary mechanism to be listed for purposes of analysis and synthesis. Further, the interference-free region with maximum ball-retention capability of a socket in a spherical pair can be determined analytically. Extended DH notation can systematically model arbitrary binary mechanisms with spherical pairs, simplifying their design and study.
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Harshanand P. Ramteke. "Synthesis of Swing Type Flexible Coupling through Denavit-Hartenberg Notations." Advances in Nonlinear Variational Inequalities 28, no. 7s (2025): 131–45. https://doi.org/10.52783/anvi.v28.4490.
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This paper synthesizes a swing-type flexible coupling (STFC) utilizing robotic kinematics' Denavit-Hartenberg (DH) nomenclature. The study aimed to design a coupling for dynamic misalignments to maintain efficient torque transmission for applications like robotics, automotive engineering, and industrial machinery. Links are defined by joint angle, offset, length, and twist in DH notation, simplifying multi-link mechanical systems. This notation helps engineers visualize the STFC's kinematic behavior for flexibility, torque loss reduction, and mechanical wear from misalignments. The paper outlines the STFC coupling's design specifications, including angular misalignment management, torsional rigidity, and vibration dampening. A dynamic examination of the synthesized connection shows how rotational forces affect dowel pins and central main pins. Results show that coupling's kinematic positions and dynamic behaviors highlight its stability and adaptability. Results show that the STFC works in dynamic systems with frequent shaft misalignments during its 360-degree rotation. This paper introduces DH notation's innovative usage in flexible coupling design and provides a formal optimization technique. Future research could improve DH settings for complex conditions and add durable materials. The synthesis of this connection helps to build strong, flexible couplings for high-performance mechanical systems.
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Palazhchenko, Y. V., and V. V. Shendryk. "DIGITAL TWIN DATA STORAGE FOR INDUSTRIAL ROBOT KINEMATICS." Таврійський науковий вісник. Серія: Технічні науки, no. 4 (December 5, 2024): 111–18. https://doi.org/10.32782/tnv-tech.2024.4.10.
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In response to the increasing demand for efficient and automated production processes, Digital Twins have emerged as a vital tool for optimising industrial operations and preemptively identifying equipment issues. An important component of the Digital Twin is the storage of historical data on equipment operation. This research focuses on developing a universal database structure for storing position data of various industrial robots, including Cylindrical, SCARA, Articulated, and Cartesian/Gantry robots. The proposed database uses the Denavit-Hartenberg (DH) method, widely recognised for representing robot kinematics. Combining the Denavit-Hartenberg method with relational database technology provides a flexible and scalable solution for managing the diverse and complex data associated with robot configurations. This structure makes it possible to apply this development in industrial environments where robots with different degrees of freedom and different kinematic chains are used. The combination of the Denavit-Hartenberg method with relational database technology provides a flexible and scalable solution for managing diverse and complex data related to robot configurations. The database design supports the creation of Digital Twins for industrial robots, facilitating enhanced operational monitoring, predicting maintenance, identifying wear patterns, detecting abnormal behaviour and predicting potential equipment failures. This approach minimises downtime and extends the lifetime of robotic systems, which ultimately contributes to sustainable production and is in line with the concept of Industry 4.0. In this study, we present a database framework specifically for storing data on the position of equipment nodes. The created entities allow storing data on the position of each robot node. When the position of a node changes, only those Denavit- Hartenberg parameters that have changed are stored in the database. This allows you to optimise memory usage without losing the collected data. The database structure can be expanded by adding data from other sensors installed on the robot or other peripheral devices, or data generated by the Digital Twin. Further research will test the effectiveness of the database structure.
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Shala, Ahmet, and Mirlind Bruçi. "Proposed Robot Scheme with 5 DoF and Dynamic Modelling Using Maple Software." Strojnícky casopis – Journal of Mechanical Engineering 67, no. 2 (2017): 101–8. http://dx.doi.org/10.1515/scjme-2017-0023.
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AbstractIn this paper is represented Dynamical Modelling of robots which is commonly first important step of Modelling, Analysis and Control of robotic systems. This paper is focused on using Denavit-Hartenberg (DH) convention for kinematics and Newton-Euler Formulations for dynamic modelling of 5 DoF - Degree of Freedom of 3D robot. The process of deriving of dynamical model is done using Software Maple. Derived Dynamical Model of 5 DoF robot is converted for Matlab use for future analysis, control and simulations.
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Khanesar, Mojtaba A., Minrui Yan, Mohammed Isa, Samanta Piano, and David T. Branson. "Precision Denavit–Hartenberg Parameter Calibration for Industrial Robots Using a Laser Tracker System and Intelligent Optimization Approaches." Sensors 23, no. 12 (2023): 5368. http://dx.doi.org/10.3390/s23125368.
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Precision object handling and manipulation require the accurate positioning of industrial robots. A common practice for performing end effector positioning is to read joint angles and use industrial robot forward kinematics (FKs). However, industrial robot FKs rely on the robot Denavit–Hartenberg (DH) parameter values, which include uncertainties. Sources of uncertainty associated with industrial robot FKs include mechanical wear, manufacturing and assembly tolerances, and robot calibration errors. It is therefore necessary to increase the accuracy of DH parameter values to reduce the impact of uncertainties on industrial robot FKs. In this paper, we use differential evolution, particle swarm optimization, an artificial bee colony, and a gravitational search algorithm to calibrate industrial robot DH parameters. A laser tracker system, Leica AT960-MR, is utilized to register accurate positional measurements. The nominal accuracy of this non-contact metrology equipment is less than 3 μm/m. Metaheuristic optimization approaches such as differential evolution, particle swarm optimization, an artificial bee colony and a gravitational search algorithm are used as optimization methods to perform the calibration using laser tracker position data. It is observed that, using the proposed approach with an artificial bee colony optimization algorithm, the accuracy of industrial robot FKs in terms of mean absolute errors of static and near-static motion over all three dimensions for the test data decreases from its measured value of 75.4 μm to 60.1 μm (a 20.3% improvement).
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Li, Yong-Bin, Tie-Jun Li, Hui-Fang Zhu, et al. "Comparative Analysis of the Kinematics Solution Based on the DH Method and Screw Theory." Mathematical Problems in Engineering 2021 (January 30, 2021): 1–13. http://dx.doi.org/10.1155/2021/6694621.
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The premise of analyzing and researching robot technology is to establish a proper mathematical model and then to solve it with kinematics. In this study, a self-developed humanoid hydraulically driven dual-arm robot is taken as the research object, and the DH (Denavit–Hartenberg) parameter method and the rotational exponential formula (POE) are used to solve the kinematics of the robot. The calculation results are verified by simulation. The advantages and disadvantages of the two methods are analyzed. The differences between the two methods are compared. It lays a foundation for other scholars to choose mathematical models when analyzing the mechanism in the future.
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Ibaraki, Soichi, and Kandai Kawano. "On Thermal Positioning Error of a Planar Robot Arm over Entire Workspace." International Journal of Automation Technology 17, no. 5 (2023): 504–11. http://dx.doi.org/10.20965/ijat.2023.p0504.
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Robot links are typically subjected to larger thermal deformations than machine-tool structures. In this study, the thermal effect on the two-dimensional (2D) positioning error of a planar robot arm over its entire workspace was investigated. It was experimentally verified that the Denavit–Hartenberg (DH) parameters, namely the link lengths and angular offset of the rotary axis, could be the key contributors to the thermal variation in the 2D positioning error. The experiment revealed that the variation in the angular positioning deviations of the rotary axes was marginal. This paper presents an on-machine test to identify the link lengths and the angular offset by probing an artifact bar of a pre-calibrated length. To compensate for the thermal influence, it is effective to identify the DH parameters by periodically performing the proposed test.
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Tian, Yu, Wei Feng, Miao’an Ouyang, Haodong Bian, and Qingpeng Chen. "A positioning error compensation method for multiple degrees of freedom robot arm based on the measured and target position error." Advances in Mechanical Engineering 14, no. 5 (2022): 168781322210900. http://dx.doi.org/10.1177/16878132221090094.
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A novel positioning error compensation method (PECM) based on the measured and target position error for multiple degrees of freedom (DOF) robot arm control is proposed, which is used to improve positioning accuracy of multiple-DOF robot arm end-effector in accurate positioning applications such as in the medical and mechanical fields. Based on the idea of PID to increase adaptiveness and robustness of the method, a positioning compensation model between the measured and target position error tracked by an optical tracking system and compensated joint angle is derived with inverse kinematic model. Based on error analysis of the compensation model regarding geometry errors, the proportional joint angle compensated coefficient deduced from Jaccobian matrix of the error is proposed and identified with position error data. Calibration experiments for position conversion matrix and positioning accuracy verification experiments are conducted consisting of an optical tracking system and a robot arm. The results of positioning accuracy verification experiments show that the average resultant positioning error in three directions reduces from 1.89 mm (before compensation, model based on Denavit-Hartenberg (DH)), 0.39 mm (model based on modified Denavit-Hartenberg (MDH) with Levenberg-Marquardt (LM)) to 0.34 mm (decreasing 82%, 15%), which demonstrates the efficiency and robustness of the method.
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Ouezdou, F. B., and S. Régnier. "General method for kinematic synthesis of manipulators with task specifications." Robotica 15, no. 6 (1997): 653–61. http://dx.doi.org/10.1017/s0263574797000787.
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This paper deals with the kinematic synthesis of manipulators. A new method based on distributed solving is used to determine the dimensional parameters of a general manipulator which is able to reach a set of given tasks specified by orientation and position. First, a general Distributed Solving Method (DSM) is presented in three steps: the problem statement, the objective functions formulations and the minimum parameters values determination. Then, this method is applied to solve the synthesis of the Denavit and Hartenberg set of parameters of a manipulator with a given kinematic structure. In this case, the kind and the number of joints are specified and a set of constraints are included such as joint limits, range of dimensional parameters and geometrical obstacles avoidance. We show that if the Denavit and Hartenberg parameters (DH) are known, the synthesis problem is reduced to an inverse kinematic problem. We show also how the problem of robot base placement can be solved by the same method. A general algorithm is given for solving the synthesis problem for all kind of manipulators. The main contribution of this paper is a general method for kinematic synthesis of all kind of manipulators and some examples are presented for a six degrees of freedom manipulator in cluttered environment.
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Said, Alejandro, Ernesto Rodriguez-Leal, Rogelio Soto, J. L. Gordillo, and Leonardo Garrido. "Decoupled Closed-Form Solution for Humanoid Lower Limb Kinematics." Mathematical Problems in Engineering 2015 (2015): 1–14. http://dx.doi.org/10.1155/2015/437979.
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This paper presents an explicit, omnidirectional, analytical, and decoupled closed-form solution for the lower limb kinematics of the humanoid robot NAO. The paper starts by decoupling the position and orientation analysis from the overall Denavit-Hartenberg (DH) transformation matrices. Here, the joint activation sequence for the DH matrices is based on the geometry of a triangle. Furthermore, the implementation of a forward and a reversed kinematic analysis for the support and swing phase equations is developed to avoid matrix inversion. The allocation of constant transformations allows the position and orientation end-coordinate systems to be aligned with each other. Also, the redefinition of the DH transformations and the use of constraints allow decoupling the shared DOF between the legs and the torso. Finally, a geometric approach to avoid the singularities during the walking process is indicated. Numerical data is presented along with an experimental implementation to prove the validity of the analytical results.
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Zhang, Yu Zhu, Xin Meng, and Zhong Shi Pan. "A Multi-DOF Robotic Arm Manipulator Simulation and Visualization Platform." Advanced Materials Research 694-697 (May 2013): 1662–66. http://dx.doi.org/10.4028/www.scientific.net/amr.694-697.1662.
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As robots are employed in various fields of manufacturing process, its modeling and analysis is an important process during robot design. Therefore, based on simulation technology, a multi-degree of freedom (DOF) robot arm manipulator simulation and visualization platform is proposed due to the DOF of the joints on a robot differs in specific projects. The Denavit Hartenberg (DH) parametric scheme is adopted in the workspace analysis and relative position computation model. The latter calculates the distance and position between the end-effector and the target. And then, a test case using the platform is presented, the results showed that the platform is feasible for robot design.
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Munadi, Munadi, and Beni Anggoro. "DESAIN DAN PEMODELAN HUMANOID ROBOT." ROTASI 16, no. 2 (2014): 6. http://dx.doi.org/10.14710/rotasi.16.2.6-13.
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Artikel ini memaparkan tahapan dalam mendesain kontruksi mekanik humanoid robot yang sederhana. Desain sebagai tahapan awal dalam pembuatan humanoid robot sebelum dilakukan pemodelan kinematik dan pemodelan dinamik. Untuk pemodelan kinematik akan dilakukan analisa forward kinematics dengan menggunakan notasi parameter Denavit-Hartenberg (DH parameter). DH parameter menggunakan matrik homogeneous transformation 4x4 untuk menyatakan hubungan spasial antara dua link yang berhubungan, sehingga dengan matrik transformasi tiap link humanoid robot yang diperoleh dapat menyederhanakan masalah forward kinemtic. Pada pemodelan dinamik akan dilakukan analisa torsi pada joint ankle dengan menggunakan persamaan Lagrangian. Pemodelan dinamik diperoleh energi kinetik dan energi potensial yang terdapat pada tiap link humanoid robot, sehingga dari turunan persamaan Lagrangian diperoleh torsi pada joint ankle humanoid robot. Dalam pergerakan humanoid robot pada joint space mempunyai jalur lintasan (trajectory) sebagai fungsi trajectory terhadap waktu. Proses desain menggunakan alat bantu software SolidWorks dan untuk analisa perhitungan kinematik dan dinamik menggunakan software MATLAB.
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Li, Yunfei, Qiuhao Wang, and Qian Liu. "Developing a Static Kinematic Model for Continuum Robots Using Dual Quaternions for Efficient Attitude and Trajectory Planning." Applied Sciences 13, no. 20 (2023): 11289. http://dx.doi.org/10.3390/app132011289.
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Kinematic modeling is essential for planning and controlling continuum robot motion. The traditional Denavit Hartenberg (DH) model involves complex matrix multiplication operations, resulting in computationally intensive inverse solutions and trajectory planning. Solving position and orientation changes in continuum robots using the double quaternion rule can reduce computational complexity. However, existing dual quaternion methods are direct equational transformations of DH rules and do not give a complete modeling process. They usually require more interpretability when applying continuum robot kinematic modeling. This paper uses the dual quaternion method to establish a kinematic model of a continuum robot. It uses a two-section continuum robot model to compare the advantages of dual quaternion and traditional modeling methods. In addition, this paper proposes a five-polynomial interpolation algorithm based on the dual quaternion method for trajectory planning of continuum robots. This method accurately models spatial bending and torsional motions of singularity-free continuum robots.
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Agustian, Indra, Novalio Daratha, Ruvita Faurina, Agus Suandi, and Sulistyaningsih Sulistyaningsih. "Robot Manipulator Control with Inverse Kinematics PD-Pseudoinverse Jacobian and Forward Kinematics Denavit Hartenberg." Jurnal Elektronika dan Telekomunikasi 21, no. 1 (2021): 8. http://dx.doi.org/10.14203/jet.v21.8-18.
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This paper presents the development of vision-based robotic arm manipulator control by applying Proportional Derivative-Pseudoinverse Jacobian (PD-PIJ) kinematics and Denavit Hartenberg forward kinematics. The task of sorting objects based on color is carried out to observe error propagation in the implementation of manipulator on real system. The objects image captured by the digital camera were processed based on HSV-color model and the centroid coordinate of each object detected were calculated. These coordinates are end effector position target to pick each object and were placed to the right position based on its color. Based on the end effector position target, PD-PIJ inverse kinematics method was used to determine the right angle of each joint of manipulator links. The angles found by PD-PIJ is the input of DH forward kinematics. The process was repeated until the square end effector reached the target. The experiment of model and implementation to actual manipulator were analyzed using Probability Density Function (PDF) and Weibull Probability Distribution. The result shows that the manipulator navigation system had a good performance. The real implementation of color sorting task on manipulator shows the probability of success rate cm is 94.46% for euclidian distance error less than 1.2 cm.
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Huang, T. Y., H. W. Huang, D. D. Jin, et al. "Four-dimensional micro-building blocks." Science Advances 6, no. 3 (2020): eaav8219. http://dx.doi.org/10.1126/sciadv.aav8219.
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Four-dimensional (4D) printing relies on multimaterial printing, reinforcement patterns, or micro/nanofibrous additives as programmable tools to achieve desired shape reconfigurations. However, existing programming approaches still follow the so-called origami design principle to generate reconfigurable structures by self-folding stacked 2D materials, particularly at small scales. Here, we propose a programmable modular design that directly constructs 3D reconfigurable microstructures capable of sophisticated 3D-to-3D shape transformations by assembling 4D micro-building blocks. 4D direct laser writing is used to print two-photon polymerizable, stimuli-responsive hydrogels to construct building blocks at micrometer scales. Denavit-Hartenberg (DH) parameters, used to define robotic arm kinematics, are introduced as guidelines for how to assemble the micro-building blocks and plan the 3D motion of assembled chain blocks. Last, a 3D-printed microscaled transformer capable of changing its shape from a race car to a humanoid robot is devised and fabricated using the DH parameters to guide the motion of various assembled compartments.
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Abaas, Tahseen F., Ali A. Khleif, and Mohanad Q. Abbood. "Kinematics Analysis of 5 DOF Robotic Arm." Engineering and Technology Journal 38, no. 3A (2020): 412–22. http://dx.doi.org/10.30684/etj.v38i3a.475.
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This paper presents the forward, inverse, and velocity kinematics analysis of a 5 DOF robotic arm. The Denavit-Hartenberg (DH) parameters are used to determination of the forward kinematics while an algebraic solution is used in the inverse kinematics solution to determine the position and orientation of the end effector. Jacobian matrix is used to calculate the velocity kinematics of the robotic arm. The movement of the robotic arm is accomplished using the microcontroller (Arduino Mega2560), which controlling on five servomotors of the robotic arm joints and one servo of the gripper. The position and orientation of the end effector are calculated using MATLAB software depending on the DH parameters. The results indicated the shoulder joint is more effect on the velocity of the robotic arm from the other joints, and the maximum error in the position of the end-effector occurred with the z-axis and minimum error with the y-axis.
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Khalili, Heidar. "Path planning of a quadruped robot on a flat surface using ZMP for stability." Journal of Research in Science, Engineering and Technology 7, no. 02 (2020): 6–20. http://dx.doi.org/10.24200/jrset.vol7iss02pp6-20.
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In this paper a novel method for gait trajectory design of a point legged quadruped robot with 18 degree of freedom on a flat surface is proposed. The exact model of the mechanical parts of the robot including four legs and the body and all joints will be derived and used in gait trajectory planning. Inverse dynamics of the quadruped are formulized using Denavit-Hartenberg (DH) convention. Bezier curves are used for trajectory planning. Effects of body and legs on Zero Moment Point (ZMP) will be analyzed separately. By manipulating free parameters, a stable gait trajectory will be designed according to ZMP dynamic stability criterion. Simulations are done using Matlab and Mathematica software which show good performance of the novel method proposed.
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Shala, Ahmet, and Xhevahir Bajrami. "Dynamic Modeling and Analysis of Propulsion effect of 3 DoF robot." International Journal of Business & Technology 1, no. 2 (2013): 30–38. http://dx.doi.org/10.33107/ijbte.2013.1.2.03.
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Dynamical Modeling of robots is commonly first important step of Modeling, Analysis and Control of robotic systems. This paper is focused on using Denavit-Hartenberg (DH) convention for kinematics and Newton- Euler Formulations for dynamic modeling of 3 DoF - Degree of Freedom of 3D robot. The process of deriving of dynamical model is done using Software Maple. Simulations are done using Matlab/Simulink for analysis of propulsion effect under Earth gravity when First Link rotates with 1000 rpm, second Link can move free in vertical direction and Third Link can rotates free around their rotations axle. Simulations results shows very good propulsion of proposed 3 DoF robot. Results are verified-compared with constructed model of 3 DoF robot using Working Model 3D Software.
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Chung, Hyun-Joon, Joo H. Kim, and Yujiang Xiang. "Rate of Angular Momentum in ZMP Using Efficient DH-Based Recursive Lagrangian." International Journal of Humanoid Robotics 15, no. 06 (2018): 1850028. http://dx.doi.org/10.1142/s0219843618500287.
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Dynamic balance has to be maintained during motions of biped systems when their feet are in contact with the ground. As a necessary condition, this indicates that the calculated zero moment point (ZMP) position should be within the specified foot support region throughout the entire motion. A critical term in the ZMP formulation is the rate of angular momentum (RAM) for each link, which should be evaluated accurately and efficiently in motion planning and simulations. In this study, we propose a recursive Lagrangian method based on Denavit–Hartenberg convention to calculate the RAM for each link and the corresponding sensitivity. This method allows the evaluation of each link’s dynamic contribution to the ZMP position. The effectiveness of the proposed approach is demonstrated by simulating bipedal motions of walking and running along with their comparison against existing approaches (direct method and global force method). The accurate RAM calculation in ZMP based on the proposed approach resulted in the improved motion trajectories and reliable ground reaction forces for high-speed bipedal motion predictions.
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Hind, Hadi Abdulridha* &. Dr. Tahseen Fadhel Abaas2. "DIFFERENTIAL MOTION ANALYSIS OF LAB-VOLT R5150 ROBOT SYSTEM." Global Journal of Engineering Science and Research Management 4, no. 10 (2017): 152–60. https://doi.org/10.5281/zenodo.1034505.
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Differential motion is a way to track and explain motion for different points of the robot. It can be used to study movement of robot mechanisms through a Small period of time. In this paper, forward kinematics modeling and differential motion analysis of (5 DOF) Lab-Volt R5150 robotic manipulator are presented. The standard Denavit-Hartenberg (DH) model is applied to build the mathematical modeling to determine and simulate the position and orientation of the end effector for the 5DOF Lab-Volt R5150 robot manipulator. This position will be used to calculate the required joint variable. Differential motion uses Jacobian method to calculate and analyze the end-effector velocity and its relation to the joint variables velocities. A diagram between (velocities - time) has been presented and drawn for several cases. Important conclusions are reported from the values obtained.
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Rogério, Adas Pereira Vitalli. "VIRTUAL COMMISSIONING, DIGITAL TWIN AND CONTROL STRATEGIES APPLIED IN THE INDUSTRIAL ROBOT PUMA 560." INTERNATIONAL JOURNAL OF MATHEMATICS AND COMPUTER RESEARCH 9, no. 03 (2021): 2197–202. https://doi.org/10.47191/ijmcr/v9i3.02.
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The objective of this work is the evaluation, through computational simulation, of the performance and behavior of the PUMA 560 robot under different types of motion controllers. Nominal models for control design were obtained through linearization of the robot dynamic model considering selected points of operation through Denavit-Hartenberg (DH) modeling and convention. In addition to a PID joint decentralized control law and a computed torque control law that had already been implemented in the simulator, it was implemented a predictive control law and a robust control law as well. Tuning of the parameters of these control laws were performed for the Puma 560 robot and each control system was evaluated through simulation. Results about the controller design and the control system simulation were collected and discussed. Completing this study aimed to analyzing a six degree of freedom robot manipulator motion control taking in account performance and robustness aspects, it was chosen a particular structure and introduced a force control loop; this controller design and simulator extension allowed an evaluation of some force control aspects and digital twin.
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Kifayat Mammadova, Aytan Aliyeva, Kifayat Mammadova, Aytan Aliyeva, and Nigar Baghirova Nigar Baghirova. "CONSTRUCTION OF THE KINEMATIC MODEL OF ROBOTIC SYSTEMS IN THE MATLAB ENVIRONMENT." ETM - Equipment, Technologies, Materials 16, no. 04 (2023): 67–75. http://dx.doi.org/10.36962/etm16042023-67.
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Robotics has become relatively accessible with low-cost projects, but there is still a need to create models that accurately represent the robot's physical behavior. Creating a virtual platform allows us to test behavioral algorithms using artificial intelligence. In addition, it will enable us to find potential problems in the physical design of the robot. The article describes the methodology of building a kinematic model and simulation of an autonomous robot. The development of a kinematic model and its implementation using several tools are presented. The environment used for the experiment is very close to natural conditions and reflects the kinematic characteristics of the robot. As a result, the simulation of the model following the mobile robot's kinematics is executed and tested in MATLAB. As a study, the m-file creation in MATLAB, its use with the Simulink package, and the solution of the forward and inverse problem of kinematics are shown. In addition to constructing the robot body using Simulink blocks, the structure of the kinematic scheme is simulated using the Denavit-Hartenberg (DH) parameters of the robot without blocks. "Simscape" and "Robotics System Toolbox" packages simulate forward and inverse kinematics using the Simulink package, and the robot's handle and body movement are observed. In the forward kinematics problem, the readings in the Scope compare the signals received from joint one and the end effector. For the inverse kinematic problem, the parameters of the manipulator along the XYZ axes are entered using the "Signal builder" block, and the circular movement of the arm is observed. In contrast, the handle of the manipulator remains fixed at a given point. Keywords: mobile robot, kinematic model, the forward and inverse problem of kinematics, Denavit-Hartenberg parameters, joint types
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Rawashdeh, Nathir, and Nader Abu-Alrub. "Gripper Control Design and Simulation for OpenROV Submarine Robot." Actuators 10, no. 10 (2021): 252. http://dx.doi.org/10.3390/act10100252.
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In this work, a design of a gripper for the underwater OpenROV vehicle is presented. OpenROV is an open-source underwater vehicle design for remote underwater exploration. It can enable systems of underwater internet of things and real-time monitoring. Mechanical aspects of the presented gripper design are discussed including actuation, motion transmission, kinematics and general arrangement, which resembles a delta robot. The Denavit-Hartenberg (DH) notation will be employed to define reference frames on one of the fingers in order to build transformation matrices and the forward kinematics matrix. The results from the forward kinematics are used to define the workspace that can be covered by each finger. The maximum force from the fingertip is estimated using Newton-Euler equations. Finally, the transfer function and the mass moment of inertia of the second link in the finger, that is, the fingertip is calculated for control simulations. A control stability analysis is provided and shows a stable system.
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Ibaraki, Soichi, Nikolas Alexander Theissen, Andreas Archenti, and Md Moktadir Alam. "Evaluation of Kinematic and Compliance Calibration of Serial Articulated Industrial Manipulators." International Journal of Automation Technology 15, no. 5 (2021): 567–80. http://dx.doi.org/10.20965/ijat.2021.p0567.
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As long as industrial robots are programmed by teach programming, their positioning accuracy is unimportant. With a wider implementation of offline programming and new applications such as machining, ensuring a higher positioning accuracy of industrial robots over the entire working space has become very important. In this paper, we first review the measurement schemes of end effector poses. We then outline kinematic models of serial articulated industrial manipulators to quantify the positioning accuracy with a focus on the extension of the classical Denavit-Hartenberg (DH) models to include rotary axis error motions. Subsequently, we expand the discussion on kinematic models to compliant robot models. The review highlights compliance models that are applied to calculate the elastic deformation produced by forces, namely gravity and external loads. Model-based numerical compensation plays an important role in machine tool control. This paper aims to present state-of-the-art technical issues and future research directions for the implementation of model-based numerical compensation schemes for industrial robots.
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ALIZADEGAN, ALIREZA, and SAEED BEHZADIPOUR. "SHOULDER AND ELBOW JOINT ANGLE ESTIMATION FOR UPPER LIMB REHABILITATION TASKS USING LOW-COST INERTIAL AND OPTICAL SENSORS." Journal of Mechanics in Medicine and Biology 17, no. 02 (2017): 1750031. http://dx.doi.org/10.1142/s0219519417500312.
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This paper proposes a new method to improve accuracy and real-time performance of inertial joint angle estimation for upper limb rehabilitation applications by modeling body acceleration and adding low-cost markerless optical position sensors. A method based on a combination of the 3D rigid body kinematic equations and Denavit-Hartenberg (DH) convention is used to model body acceleration. Using this model, body acceleration measurements of the accelerometer are utilized to increase linearization order and compensate for body acceleration perturbations. To correct for the sensor-to-segment misalignment of the inertial sensors, position measurements of a low-cost markerless position sensor are used. Joint angles are estimated by Extended Kalman Filter (EKF) and compared with Unscented Kalman Filter (UKF) in terms of performance. Simulations are performed to quantify the existing error and potential improvements achievable by the proposed method. Experiments on a human test subject performing an upper limb rehabilitation task is used to validate the simulation results in realistic conditions.
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Wang, Yecong, Xilun Ding, Zixin Tang, Chengwei Hu, Qingqing Wei, and Kun Xu. "A Novel Analytical Inverse Kinematics Method for SSRMS-Type Space Manipulators Based on the POE Formula and the Paden-Kahan Subproblem." International Journal of Aerospace Engineering 2021 (April 29, 2021): 1–13. http://dx.doi.org/10.1155/2021/6690696.
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Space manipulators which have a similar symmetrical structure with seven revolute joints, such as the space station remote manipulator system (SSRMS), can be called SSRMS-type space manipulators. The analytical inverse kinematics of an SSRMS-type manipulator can be solved by locking a single joint; the locked joint (joint 1, 2, 6, or 7) can be determined by configuration analysis. Although widely used in establishing the kinematics of SSRMS-type manipulators, the Denavit-Hartenberg (DH) method has a singular problem when two adjacent joint axes are nearly parallel. To avoid this problem, this paper proposes a novel analytical inverse kinematics method for SSRMS-type manipulators based on the product of exponentials (POE) formula and the Paden-Kahan subproblem. Because of the symmetrical structure, an SSRMS-type manipulator degrades to two kinds of 6-degree-of-freedom (DOF) manipulators when locking a single joint (joint 1, 2, 6, or 7). The analytical inverse kinematics of these two kinds of 6-DOF manipulators is solved by combining the Paden-Kahan subproblems and geometric and algebraic methods, respectively. The proposed approach is not only singularity free compared with the traditional DH-based methods but also more accurate than the POE-based numerical solution. The simulation results verify the efficiency of the proposed approach.
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Shanda, Wang, Luo Xiao, Luo Qingsheng, and Han Baoling. "Existence Conditions and General Solutions of Closed-form Inverse Kinematics for Revolute Serial Robots." Applied Sciences 9, no. 20 (2019): 4365. http://dx.doi.org/10.3390/app9204365.
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This study proposes a method for judging the existence of closed-form inverse kinematics solutions based on the Denavit–Hartenberg (DH) model. In this method, serial robots with closed-form solutions are described using three types of sub-problems from the viewpoint of solving algebraic equations. If a serial robot can be described using these three types of sub-problems, i.e., if the inverse kinematics problems can be solved by several basic problems, then there is a closed-form solution. Based on the above method, we design a set of universal closed-form inverse kinematics solving algorithms. Since there is a definite formula solution for the three types of sub-problems, the joint angles can be rapidly determined. In addition, because the DH parameters can directly reflect the linkage of the robot, the judgment of the sub-problems is also quick and accurate. More importantly, the algorithm can be applied to serial robots with low degrees of freedom. This enables the algorithm to not only quickly and accurately solve inverse kinematics problems but also to exhibit high universality. This proposed theory improves the existence conditions for closed-form reverse solutions and further promotes the development of motion control techniques for serial robots.
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Thomas, Mervin Joe, Mithun M. Sanjeev, A. P. Sudheer, and Joy M.L. "Comparative study of various machine learning algorithms and Denavit–Hartenberg approach for the inverse kinematic solutions in a 3-PPSS parallel manipulator." Industrial Robot: the international journal of robotics research and application 47, no. 5 (2020): 683–95. http://dx.doi.org/10.1108/ir-11-2019-0233.
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Purpose This paper aims to use different machine learning (ML) algorithms for the prediction of inverse kinematic solutions in parallel manipulators (PMs) to overcome the computational difficulties and approximations involved with the analytical methods. The results obtained from the ML algorithms and the Denavit–Hartenberg (DH) approach are compared with the experimental results to evaluate their performances. The study is performed on a novel 6-degree of freedom (DoF) PM that offers precise motions with a large workspace for the end effector. Design/methodology/approach The kinematic model for the proposed 3-PPSS PM is obtained using the modified DH approach and its inverse kinematic solutions are determined using the Levenberg–Marquardt algorithm. Various prediction algorithms such as the multiple linear regression, multi-variate polynomial regression, support vector, decision tree, random forest regression and multi-layer perceptron networks are applied to predict the inverse kinematic solutions for the manipulator. The data set required to train the network is generated experimentally by recording the poses of the end effector for different instantaneous positions of the slider using the concept of ArUco markers. Findings This paper fully demonstrates the possibility to use artificial intelligence for the prediction of inverse kinematic solutions especially for complex geometries. Originality/value As the analytical models derived from the geometrical method, Screw theory or numerical techniques involve approximations and needs more computational power, it is not advisable for real-time control of the manipulator. In addition, the data set obtained from the derived inverse kinematic equations to train the network may lead to inaccuracies in the predicted results. This error may generate significant deviations in the end-effector position from the desired position. The present work attempts to resolve this issue by proposing a camera-based approach that uses ArUco library and ML algorithms to create the data set experimentally and predict the inverse kinematic solutions accurately.
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Assad-Uz-Zaman, Md, Md Rasedul Islam, Mohammad Habibur Rahman, Ying-Chih Wang, and Erin McGonigle. "Kinect Controlled NAO Robot for Telerehabilitation." Journal of Intelligent Systems 30, no. 1 (2020): 224–39. http://dx.doi.org/10.1515/jisys-2019-0126.
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Abstract In this paper, we focus on the human upper limb rehabilitation scheme that utilizes the concept ofteleoperation. Teleoperation can help the therapist demonstrate different rehab exercises to a different group of people at the same time remotely. Different groups of people from a different place connected to the same network can get therapy from the same therapist at the same time using the telerehabilitation scheme. Here, we presented a humanoid robot NAO that can be operated remotely by a therapist to demonstrate the exercise to a patient. To mimic the movement demonstrated by the therapist, Kinect V2 sensor which is a markerless vision-based motion-tracking device, was used. Modified Denavit-Hartenberg (DH) convention was used for the kinematic modeling of the human upper arm. From the Kinect data, a geometric solution was developed to find a unique inverse kinematic solution of human upper-extremity. Experimental results revealed that NAO could be teleoperated successfully to instruct and demonstrate patients to perform different arm movement exercises in real-time.
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Rojas Angel, Jairo. "Análisis cinemático del prototipo de robot equino desarrollado para el simulador de prácticas de tiro montado en la Escuela Nacional de Carabineros." Revista Logos Ciencia & Tecnología 10, no. 4 (2018): 211. http://dx.doi.org/10.22335/rlct.v10i4.679.
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Este escrito de investigación comprende de forma aproximada el modelamiento cinemático directo del robot equino de seis grados de libertad “6-DOF” desarrollado como producto de la investigación en curso titulada “Simulador equino para prácticas de tiro montado en la ESCAR”. El manipulador diseñado tiene fines educativos y será utilizado en las prácticas de tiro montado, como herramienta de apoyo didáctico en los cursos de carabineros de la policía nacional. Se presenta la propuesta de diseño del manipulador robótico adaptado a las necesidades educativas. Se utilizan actuadores eléctricos lineales de potencia que acoplan los eslabones de la cadena cinemática propuesta. Se aproxima la cinemática directa del robot, utilizando el algoritmo de Denavit-Hartenberg “DH” y se calcula el modelo dinámico del manipulador. Finalmente se valida el prototipo realizando pruebas de simulación del comportamiento del manipulador mediante la creación de segmentos de programa en Matlab® y se comparan con los resultados obtenidos mediante el control del mecanismo desde una aplicación de software desarrollada para tal fin en Microsoft Visual C# 2013®.
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Xiang, Wenping, Junhua Chen, Hao Li, Zhiyuan Chai, and Yinghou Lou. "Research on End-Effector Position Error Compensation of Industrial Robotic Arm Based on ECOA-BP." Sensors 25, no. 2 (2025): 378. https://doi.org/10.3390/s25020378.
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Industrial robotic arms are often subject to significant end-effector pose deviations from the target position due to the combined effects of nonlinear deformations such as link flexibility, joint compliance, and end-effector load. To address this issue, a study was conducted on the analysis and compensation of end-position errors in a six-degree-of-freedom robotic arm. The kinematic model of the robotic arm was established using the Denavit–Hartenberg (DH) parameter method, and a rigid–flexible coupled virtual prototype model was developed using ANSYS and ADAMS. Kinematic simulations were performed on the virtual prototype to analyze the variation in end-effector position errors under rigid–flexible coupling conditions. To achieve error compensation, an approach based on an Enhanced Crayfish Optimization Algorithm (ECOA) optimizing a BP neural network was proposed to compensate for position errors. An experimental platform was constructed for error measurement and validation. The experimental results demonstrated that the positioning accuracy after compensation improves by 75.77%, fully validating the effectiveness and reliability of the proposed method for compensating flexible errors.
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Tsilomitrou, Ourania, Konstantinos Gkountas, Nikolaos Evangeliou, and Evangelos Dermatas. "Wireless Motion Capture System for Upper Limb Rehabilitation." Applied System Innovation 4, no. 1 (2021): 14. http://dx.doi.org/10.3390/asi4010014.
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This work is devoted to the presentation of a Wireless Sensor System implementation for upper limb rehabilitation to function as a complementary system for a patient’s progress supervision during rehabilitation exercises. A cost effective motion capture sensor node composed by a 9 Degrees-of-Freedom (DoF) Inertial Measurement Unit (IMU) is mounted on the patient’s upper limb segments and sends wirelessly the corresponding measured signals to a base station. The sensor orientation and the upper limb individual segments movement in 3-Dimensional (3D) space are derived by processing the sensors’ raw data. For the latter purpose, a biomechanical model which resembles that of a kinematic model of a robotic arm based on the Denavit-Hartenberg (DH) configuration is used to approximate in real time the upper limb movements. The joint angles of the upper limb model are estimated from the extracted sensor node’s orientation angles. The experimental results of a human performing common rehabilitation exercises using the proposed motion capture sensor node are compared with the ones using an off-the-shelf sensor. This comparison results to very low error rates with the root mean square error (RMSE) being about 0.02 m.
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Maamoun, Khaled Said Ahmed, and Hamid Reza Karimi. "Reinforcement learning-based control for offshore crane load-landing operations." Complex Engineering Systems 2, no. 3 (2022): 12. http://dx.doi.org/10.20517/ces.2022.28.
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Offshore crane operations are frequently carried out under adverse weather conditions. While offshore cranes attempt to finish the load-landing or lifting operation, the impact between the loads and the vessels is critical, as it can cause serious injuries and extensive damage. Multiple offshore crane operations, including load-landing operations, have used reinforcement learning (RL) to control their activities. In this paper, the Q-learning algorithm is used to develop optimal control sequences for the offshore crane’s actuators to minimize the impact velocity between the crane’s load and the moving vessel. To expand the RL environment, a mathematical model is constructed for the dynamical analysis utilizing the Denavit–Hartenberg (DH) technique and the Lagrange approach. The Double Q-learning algorithm is used to locate the bias that is common in Q-learning algorithms. The average return feature is studied to assess the performance of the Q-learning algorithm. Furthermore, the trained control sequence was tested on a separate sample of episodes, and the hypothesis that, unlike supervised learning, reinforcement learning cannot have a global optimal control sequence but only a local one, was confirmed in this application domain.
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Refaai, Mohamad Reda A. "An Improved Inverse Kinematics Solution for a Robot Arm Trajectory Using Multiple Adaptive Neuro-Fuzzy Inference Systems." Advances in Materials Science and Engineering 2022 (September 9, 2022): 1–12. http://dx.doi.org/10.1155/2022/1413952.
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Inverse kinematics of robots is a critical topic in the robotics field. Although there are conventional ways of solving inverse kinematics, soft computing is an important technology that has lately gained prominence due to its ability to reduce the complexity of the inverse kinematics problem. This paper presents an inverse kinematics solution using multiple adaptive neuro-fuzzy inference systems (MANFIS). Different models were established by employing various methods of identification. Subtractive Clustering (SCM), Fuzzy C-Means Clustering (FCM), and Grid Partitioning (GP) are the three methods used in this study. This work is being carried out on a 5-DOF articulated robot arm, which is commonly used in industry. A mathematical model is built based on the Denavit-Hartenberg (DH) approach. Following confirmation that the kinematic findings of the mathematical model match the actual observed values of the robot arm, two types of data sets are generated: a random data set and a systematic data set based on a trajectory. The data sets are then utilized to train and evaluate ANFIS models and choose the optimal models to develop MANFIS model. Thus, the prediction and experimental data are compared to assess the performance of the MANFIS model.
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Dawood Salman, Hasan, Mohsin Noori Hamzah, and Sadeq Hussein Bakhy. "KINEMATICS ANALYSIS AND IMPLEMENTATION OF THREE DEGREES OF FREEDOM ROBOTIC ARM BY USING MATLAB." IRAQI JOURNAL FOR MECHANICAL AND MATERIALS ENGINEERING 21, no. 2 (2021): 118–29. http://dx.doi.org/10.32852/iqjfmme.v21i2.547.
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The kinematics modeling of the robot arm plays an important role in robot control. This paper presents the kinematic model of a three-degree of freedom articulated robot arm, which is designed for picking and placing an application with hand gripper, where a robot has been manufactured for that purpose. The forward kinematic model has been presented in order to determine the end effector’s poses using the Denavit-Hartenberg (DH) convention. For inverse kinematics, an algebraic solution based on trigonometric formulas mixed with geometric method was adopted for a 3 DOF modular manipulator taking into account the existence of a shoulder offset. MATLAB software was used as a tool to simulate and implement the motional characteristics of the robot arm, by creating a 3D visual software package under designing a Graphical User Interface "GUI" with a support simulation from robotic Toolbox (Rtb 10.3). Finally, an electronic interfacing circuit between the GUI program and the robot arm was developed using Arduino microcontroller to control the robot motion. The presented work can be applicable for learning the reality interface design methodology of the other kinds of robot manipulators and achieve a suitable solution for the motional characteristics
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Chen, Peng, and Huang. "A New Error Model and Compensation Strategy of Angle Encoder in Torsional Characteristic Measurement System." Sensors 19, no. 17 (2019): 3772. http://dx.doi.org/10.3390/s19173772.
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For systems of measurement, geometric errors such as manufacturing and assembly errors could have a significant impact on the accuracy of the angle encoders of the system. In this study, an error model of angular measurement with geometric errors of a torsional characteristic measurement system was developed based on multibody system theory, the aim of which was to reveal the impact of geometric errors on angular measurement and to compensate the measurement error. According to the principle of spatial error transfer, the decomposition of geometric errors is illustrated and the error matrix of geometric errors is constructed by the Denavit–Hartenberg (DH) method. Subsequently, an error compensation function can be obtained and the impact of geometric error on angular measurement is discussed. Finally, we demonstrate by the experimental results of an ultra-autocollimator that the proposed error compensation method reduced the angular measurement error from 3.7% to 0.7%, which shows that the proposed error model can effectively predict the angular measurement error. In addition, it can be seen from the measurement results of the RV reducer that the error of the torsional characteristic measurement system decreased significantly.
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Gao, Guanbin, Huaishan Zhang, Xing Wu, and Yu Guo. "Structural Parameter Identification of Articulated Arm Coordinate Measuring Machines." Mathematical Problems in Engineering 2016 (2016): 1–10. http://dx.doi.org/10.1155/2016/4063046.
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Precise structural parameter identification of a robotic articulated arm coordinate measuring machine (AACMM) is essential for improving its measuring accuracy, particularly in robotic applications. This paper presents a constructive parameter identification approach for robotic AACMMs. We first develop a mathematical kinematic model of the AACMM based on the Denavit-Hartenberg (DH) approach established for robotic systems. This model is further calibrated and verified via the practical test data. Based on the difference between the calculated coordinates of the AACMM probe via the kinematic model and the given reference coordinates, a parameter identification approach is proposed to estimate the structural parameters in terms of the test data set. The Jacobian matrix is further analyzed to determine the solvability of the identification model. It shows that there are two coupling parameters, which can be removed in the regressor. Finally, a parameter identification algorithm taking the least-square solution of the identification model as the structural parameters by using the obtained poses data is suggested. Practical experiments based on a robotic AACMM test rig are carried out, and the results reveal the effectiveness and robustness of the proposed identification approach.
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Li, Xingdong, Hewei Gao, Fusheng Zha, et al. "Learning the Cost Function for Foothold Selection in a Quadruped Robot." Sensors 19, no. 6 (2019): 1292. http://dx.doi.org/10.3390/s19061292.
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This paper is focused on designing a cost function of selecting a foothold for a physical quadruped robot walking on rough terrain. The quadruped robot is modeled with Denavit–Hartenberg (DH) parameters, and then a default foothold is defined based on the model. Time of Flight (TOF) camera is used to perceive terrain information and construct a 2.5D elevation map, on which the terrain features are detected. The cost function is defined as the weighted sum of several elements including terrain features and some features on the relative pose between the default foothold and other candidates. It is nearly impossible to hand-code the weight vector of the function, so the weights are learned using Supporting Vector Machine (SVM) techniques, and the training data set is generated from the 2.5D elevation map of a real terrain under the guidance of experts. Four candidate footholds around the default foothold are randomly sampled, and the expert gives the order of such four candidates by rotating and scaling the view for seeing clearly. Lastly, the learned cost function is used to select a suitable foothold and drive the quadruped robot to walk autonomously across the rough terrain with wooden steps. Comparing to the approach with the original standard static gait, the proposed cost function shows better performance.
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Wang, Zhirong, Zhangwei Chen, Yuxiang Wang, Chentao Mao, and Qiang Hang. "A Robot Calibration Method Based on Joint Angle Division and an Artificial Neural Network." Mathematical Problems in Engineering 2019 (March 4, 2019): 1–12. http://dx.doi.org/10.1155/2019/9293484.
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Robot calibration is used to improve the accuracy of the kinematic model to achieve the higher positioning accuracy within the workspace. Due to some nongeometrical reasons such as joint and link flexibility, the errors are unevenly distributed in the workspace. In this case, it is difficult for the existing methods used to improve the absolute positioning accuracy to achieve good results in each region, especially for robots with large self-weights. In this paper, a novel calibration method is proposed, which deals with joint deflection dependent errors to enhance the robot positioning accuracy in the whole workspace. Firstly, the joint angle workspace is divided into several local regions according to the mass distribution of the robot. Then, its geometric parameters are modeled and identified using the Denavit–Hartenberg (DH) model in each region and in the whole workspace separately. Since the nongeometric error sources are difficult to model correctly, an artificial neural network (ANN) is applied to compensate for the nongeometric errors. Finally, the experiments using an 8 degree-of-freedom (DOF) engineering robot are conducted to demonstrate the validity of the proposed method. The combination of the joint angle division and ANN could be an effective solution for the robot calibration, especially for one with a large self-weight.
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Ahmad Zakey, Nurul Emylia Natasya, Mohd Hairi Mohd Zaman, and Mohd Faisal Ibrahim. "Structural Optimization of 4-DOF Agricultural Robot Arm." Jurnal Kejuruteraan 36, no. 3 (2024): 1127–34. http://dx.doi.org/10.17576/jkukm-2024-36(3)-23.
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The shortage of human labor is increasing; thus, more agricultural machinery and equipment are expected to enter the agricultural sector. One of the agricultural machinery widely studied nowadays involves robot arms. Therefore, developing robot arms is a hot issue in this field. The ideal structure of the robot arm with optimal length is currently gaining popularity and being used in many sectors, such as manufacturing and agriculture. This is closely related to the dynamic structure of agricultural areas. Therefore, this study uses the forward kinematic modeling method to design an optimal robot arm to achieve a specific coordinate in a dynamic environment. The robot in this study arm mimics the boom and arm installed on a tractor. The forward kinematic problem in this study is defined using the Denavit-Hartenberg (DH) convention method. The DH convention is commonly used to solve kinematic analysis problems of a robot arm. Simulation of kinematic modeling is performed using MATLAB software. This study studies various optimization algorithms to compare the performance of algorithms that can achieve the optimal length with minimum errors. The comparison between artificial bee colony (ABC) and particle swarm optimization (PSO) is studied. At the end of the study, the best algorithm was selected for the robot arm design with a four-degree-of-freedom (4-DOF). The best algorithm, i.e., the PSO algorithm, is evaluated by calculating mean square error (MSE of 0.00108527), root mean square error (RMSE of 0.01678), mean absolute error (MAE of 0.004286081), and end-effector position error (error of 0.080557045), where the best algorithm has the lowest value of error.
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Muhammad Tarmaizi, Muhammad Daniel, Mohd Hairi Mohd Zaman, Chen Yuanwei, Mohd Faisal Ibrahim, and Asraf Mohamed Moubark. "DIMENSIONAL OPTIMIZATION OF 7-DOF AGRICULTURAL ROBOT ARM." DYNA 100, no. 3 (2025): 219–24. https://doi.org/10.52152/d11323.
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Agricultural automation has emerged as a potential solution to meet the growing need in the quickly changing farming business. For example, the tasks in palm oil plantations require precision, efficiency, and adaptability to navigate the complex environment. Robotics solve these challenges by enhancing farming and executing tasks such as cutting fresh fruit bunches that surpass manual labor. By examining the optimal dimensions synthesis for the robotic arm and integrating the Denavit-Hartenberg (DH) parameters for kinematic modeling, this study aims to enhance the degree of freedom, enabling precise and flexible movements, which is crucial for navigating around palm oil trees. This research evaluates two optimization algorithms, artificial bee colony (ABC) and particle swarm optimization (PSO), specifically tailored for robotic arms in the agricultural sector and intended to improve performance. Kinematic modeling simulations are conducted using MATLAB software. This research emphasizes optimization methods to ensure the accurate and efficient execution of tasks. The results indicate that the PSO algorithm outperforms the ABC algorithm in terms of error minimization. Specifically, the mean square error for PSO is 5.0433 x 10-6, compared to 9.3904 x 10-6 for ABC. These results demonstrate that the PSO algorithm provides more accurate and efficient task execution for the robotic arm in agricultural applications. Key Words: Optimization; Topological; Dimensional; Agricultural; Forward Kinematics; Inverse Kinematics
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Balabanov, Alexey, Anna Bezuglaya, and Evgeny Shushlyapin. "Underwater Robot Manipulator Control." Informatics and Automation 20, no. 6 (2021): 1307–32. http://dx.doi.org/10.15622/ia.20.6.5.
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This paper deals with the problem of bringing the end effector (grip center) of an underwater vehicle anthropomorphic manipulator to a predetermined position in a given time using the terminal state method. A dynamic model with the account of joint drives dynamics is formulated on the basis of obtained kinematic model constructed by using the Denavit-Hartenberg method (DH model). The DH model is used in a terminal nonlinear criterion that displays estimate of the proximity of the effector's orientation and position to the specified values. The dynamic model is adapted for effective application of the author's terminal state method (TSM) so that it forms a system of differential equations for the rotation angles of manipulator links around the longitudinal and transverse axes, having only desired TSM-controls in the right parts. The converted model provides simplifications of controls calculation by eliminating the numerical solution of special differential equations, that is needed in the case of using in TSM nonlinear dynamic models in general form. The found TSM-controls are further used in expressions for control actions on joints electric drives obtained on the basis of electric drives dynamic models. Unknown drives parameters as functions of links rotation angles or other unknown factors, are proposed to be determined experimentally. Such two-step procedure allowed to get drive control in the form of algebraic and transcendental expressions. Finally, by applying the developed software, simulation results of the manipulator end effector moving to the specified positions on the edge of the working area are presented. The resulting error (without accounting measurement error) does not exceed 2 centimeters at the 1.2 meters distance by arm reaching maximum of length ability. The work was performed under the Federal program of developing a robotic device for underwater research in shallow depths (up to 10 meters).
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Wang, Zhirong, Zhangwei Chen, Chentao Mao, and Xiang Zhang. "An ANN-Based Precision Compensation Method for Industrial Manipulators via Optimization of Point Selection." Mathematical Problems in Engineering 2020 (June 20, 2020): 1–13. http://dx.doi.org/10.1155/2020/9035425.
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Industrial manipulators are widely used in the manufacture of products due to their high flexibility and low costs. High absolute positioning accuracy is the key to guarantee the product quality, which is commonly improved through the error compensation technology. Due to the variety, complexity, and unpredictability of the error sources, the influence of the nongeometric errors on the absolute positioning accuracy of manipulators is uncertain. In result, the existing error compensation methods are difficult to obtain satisfying results, especially for manipulators with large joint flexibility that need to work in different task scenarios. In this paper, an artificial neural network- (ANN-) based precision compensation method via optimization of point selection is proposed, which deals with the kinematic errors and joint stiffness errors in different task scenarios. Firstly, the quasi-random sequence (QRS) method and the product of exponentials (POE) model are combined to identify and compensate the geometric parameters. The QRS method can select points evenly in the workspace. And the POE model can avoid the singularity problem of Denavit–Hartenberg (DH) model. Secondly, a continuous joint stiffness compensation model in the whole workspace is established through ANN. In order to get better compensation results for the current task scenario, the point selection method based on trajectory similarity is adopted to determine the training data of ANN. Finally, the experiments are conducted on a 6-DOF industrial manipulator to demonstrate the validity of the proposed method. The results show that the ANN-based method via optimization of point selection could be an effective solution for the precision compensation.
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Margaritis, Filippos, Konstantinos Mitsopoulos, Kostas Nizamis, Alkinoos Athanasiou, and Panagiotis D. Bamidis. "Kinematic and Dynamic Analysis of Lower Limb Movement: Towards the Design of a Wearable Rehabilitation Assistant Device." Global Clinical Engineering Journal 6, SI6 (2024): 84–88. https://doi.org/10.31354/globalce.v6isi6.266.
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This study outlines a comprehensive approach to the kinematic and dynamic analysis of lower limb movement, with the express purpose of designing an efficient wearable rehabilitation assistant device for the lower body. The approach begins by conducting a kinematic analysis of the lower limbs, presenting the degrees of freedom and each joint’s range of motion. A kinematic model is designed by deciding on a kinematic chain configuration and calculating the Denavit Hartenberg (DH) parameters. Next, differential kinematic analysis is employed to calculate the velocity of the limbs, generated by the corresponding muscle groups during different types of movements. This can provide significant insights into the design of a device that can accurately track and assist these movements. Furthermore, a dynamic analysis is performed to calculate joint moments and forces. This analysis provides insights into the forces that the joints experience during movement. When combined with electromyography (EMG) data, it allows for a more holistic description of muscle activity and a more accurate estimation of individual muscle forces and joint loads. The research also lays out a plan for the wearable device's implementation. Based on OpenSenseRT [1] an open-source software and hardware project, that utilized the OpenSim [2] API, real-time inverse kinematics of a movement can be calculated using data from inertial measurement units (IMUs). This data is then used to compute the error in a person's movement during lower limb rehabilitation exercises. This error, along with the error derived from real-time dynamic analysis and EMG data, can be integrated to improve the control accuracy of the wearable device.
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Arefeen, Asif, Ting Xia, and Yujiang Xiang. "Human–Exoskeleton Coupling Simulation for Lifting Tasks with Shoulder, Spine, and Knee-Joint Powered Exoskeletons." Biomimetics 9, no. 8 (2024): 454. http://dx.doi.org/10.3390/biomimetics9080454.
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In this study, we introduce a two-dimensional (2D) human skeletal model coupled with knee, spine, and shoulder exoskeletons. The primary purpose of this model is to predict the optimal lifting motion and provide torque support from the exoskeleton through the utilization of inverse dynamics optimization. The kinematics and dynamics of the human model are expressed using the Denavit–Hartenberg (DH) representation. The lifting optimization formulation integrates the electromechanical dynamics of the DC motors in the exoskeletons of the knee, spine, and shoulder. The design variables for this study include human joint angle profiles and exoskeleton motor current profiles. The optimization objective is to minimize the squared normalized human joint torques, subject to physical and task-specific lifting constraints. We solve this optimization problem using the gradient-based optimizer SNOPT. Our results include a comparison of predicted human joint angle profiles, joint torque profiles, and ground reaction force (GRF) profiles between lifting tasks with and without exoskeleton assistance. We also explore various combinations of exoskeletons for the knee, spine, and shoulder. By resolving the lifting optimization problems, we designed the optimal torques for the exoskeletons located at the knee, spine, and shoulder. It was found that the support from the exoskeletons substantially lowers the torque levels in human joints. Additionally, we conducted experiments only on the knee exoskeleton. Experimental data indicated that using the knee exoskeleton decreases the muscle activation peaks by 35.00%, 10.03%, 22.12%, 30.14%, 16.77%, and 25.71% for muscles of the erector spinae, latissimus dorsi, vastus medialis, vastus lateralis, rectus femoris, and biceps femoris, respectively.
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Li, Guozhi, Fuhai Zhang, Yili Fu, and Shuguo Wang. "Kinematic calibration of serial robot using dual quaternions." Industrial Robot: the international journal of robotics research and application 46, no. 2 (2019): 247–58. http://dx.doi.org/10.1108/ir-10-2018-0221.
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Purpose The purpose of this paper is to propose an error model for serial robot kinematic calibration based on dual quaternions. Design/methodology/approach The dual quaternions are the combination of dual-number theory and quaternion algebra, which means that they can represent spatial transformation. The dual quaternions can represent the screw displacement in a compact and efficient way, so that they are used for the kinematic analysis of serial robot. The error model proposed in this paper is derived from the forward kinematic equations via using dual quaternion algebra. The full pose measurements are considered to apply the error model to the serial robot by using Leica Geosystems Absolute Tracker (AT960) and tracker machine control (T-MAC) probe. Findings Two kinematic-parameter identification algorithms are derived from the proposed error model based on dual quaternions, and they can be used for serial robot calibration. The error model uses Denavit–Hartenberg (DH) notation in the kinematic analysis, so that it gives the intuitive geometrical meaning of the kinematic parameters. The absolute tracker system can measure the position and orientation of the end-effector (EE) simultaneously via using T-MAC. Originality/value The error model formulated by dual quaternion algebra contains all the basic geometrical parameters of serial robot during the kinematic calibration process. The vector of dual quaternion error can be used as an indicator to represent the trend of error change of robot’s EE between the nominal value and the actual value. The accuracy of the EE is improved after nearly 20 measurements in the experiment conduct on robot SDA5F. The simulation and experiment verify the effectiveness of the error model and the calibration algorithms.
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Zhao, Jiang Hai, Xiao Dong Ye, and Wen Huan Qian. "Research on Kinematic Modeling of Octopus-Like Arm Manipulator Composed with Mixed Joints." Applied Mechanics and Materials 461 (November 2013): 278–83. http://dx.doi.org/10.4028/www.scientific.net/amm.461.278.
Full textAbstract:
Due to the space constraints and obstacles, the traditional industrial manipulator is too difficult to achieve some tasks, such as the gluing for the wing bulkhead of the aircraft and the maintenance for cooling pipes of the nuclear power plant, etc. Continuum manipulator, inspired by the trunk and the tentacle, proves to be very effective for above-mentioned tasks. A novel octopus-like biomimetic robots, is proposed in this paper, which is consisting of continuum joints and discrete joints, and provide a host of benefits, such as the large space of movement, the high flexibility and the heavy load. A novel analytical approach for solving kinematics of the octopus-like arm manipulator with mixed joints is presented in this paper. Based on the bionic mechanism of the continuum manipulator constructed from mixed joints, the robot configuration is established. In this paper, we present a detailed formulation and explanation of a novel kinematic model for the continuum robots with mixed joints. The modeling method based on the Denavit–Hartenberg parameters(also called DH parameters) is used to depict the motion of robot. The robot is comprised of the continuum joint and the rotated joint, so the kinematic model of continuum joint is crucial for constructing that of the whole robot. The continuum joint is equivalent to a section of elastic body, whose D-H parametors can be obtain from the constant-curvature method. Then the forward kinematics of the whole robot can be builded in a D-H frame. Research results will create a new modeling method for the octopus-like continuum manipulators with mixed joints, which can give a new approach for the design on the biomimetic manipulators operating in the unstructured envirement.
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He, Zheyu, and Xi He. "Chaos Adaptive Particle Swarm for Physical Exercise Health Assessment." Computational and Mathematical Methods in Medicine 2022 (February 28, 2022): 1–8. http://dx.doi.org/10.1155/2022/2474951.
Full textAbstract:
Particle crowd algorithmic rule is a mayor examination hotspot in the authentic optimization algorithmic rule respond. Based on the PSO algorithmic rule to make optimal the RBFNN example, an amended order of nonlinear adaptable laziness power supported on the contest of population variegation is intended to extend the fixedness of population unlikeness performance and hunt capabilities to preclude the algorithmic rule from dripping into a topical extreme point prematurely, thereby further improving the prophecy correctness. Simulation experience shows that the amended PSO-RBFNN standard has open advantageous in the fixedness and sharp convergency of the prognosis proceed. In fashion to reprove the justness of reverse kinematics of robots with composite make and supercilious degrees of liberty, an amended adaptative suffix abound optimization (IAPSO) is spoken. First, the motoric equality of the 6-DOF strength-example avaricious robot design is established by the amended DH (Denavit-Hartenberg) argument course; second, on the base of the existent morsel abound algorithmic rule, the population Manhattan ceremoniousness is interested to lead the maneuver condition of the population in aqiqiy measure. And bound the adaptative lore substitute accordingly to the dissimilar maneuver possession and then adopt distinct site and hurry update modes; lastly, the fitness province with handicap substitute is present to trial the honest-prick and extended course transposition of the robot mold, and the delusion is not joint product major than 0.005 rad. The feint inference shows that the established kinematics shape is chasten, and the amended algorithmic program captures into recital the nicety, uniqueness, and velocity of the inverted resolution of the existent PSO algorithmic program, as well as higher deliverance truths. We conduct an experiment on the Brazilian jiu-jitsu. The results have clearly shown the advantage of our method.
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Ren, Jiao, Xiaoxiang Ji, Lei Han, Jianghong Li, Shubiao Song, and Yafeng Wu. "Direct Closed-Loop Control Structure for the Three-Axis Satcom-on-the-Move Antenna." Aerospace 11, no. 8 (2024): 659. http://dx.doi.org/10.3390/aerospace11080659.
Full textAbstract:
The traditional Satcom-on-the-Move (SOTM) mechanical structure consists of a dual-axis configuration with an azimuth axis and a pitch axis. In this structure, when the pitch angle is 90 degrees, the rotation of the azimuth axis cannot change the antenna’s direction. To solve this issue, a three-axis SOTM mechanical structure has been developed. The traditional three-axis SOTM servo control system adopts a closed-loop control scheme. In this scheme, due to the difficulty in directly obtaining the antenna’s rotation angle, the angles of rotation for each axis are typically selected to represent the antenna’s rotation angle. The closed-loop feedback includes the angles and angular velocities of the axes, which cannot completely capture the antenna’s motion state, essentially constituting an indirect closed-loop control. Addressing the shortcomings of this indirect closed-loop control, this paper first establishes the kinematic relations between the axes of the three-axis SOTM antenna using the Denavit–Hartenberg (DH) method. Subsequently, the relationship between antenna pointing and the rotational states of the three axes was derived using the Jacobian operator. Building upon this foundation, a direct closed-loop control structure for a three-axis SOTM antenna was designed. To enable the control system to achieve rapid convergence with minimal overshoot, an Active Disturbance Rejection Control (ADRC) algorithm based on smooth continuous functions is introduced as the inner and outer loop controller algorithms within the direct closed-loop control structure. To address the nonlinearity in the design scheme, a piecewise linearization method is proposed to reduce the demands on the microprocessor’s performance and enhance the engineering feasibility of the solution. Finally, the effectiveness of the proposed approach is validated through experiments. The experimental results demonstrate that compared to traditional indirect closed-loop control methods, utilizing the direct closed-loop control method for the three-axis SOTM antenna presented in this paper can lead to higher precision in pointing the antenna towards satellites and enhance communication effectiveness.
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Shah, S. V., S. K. Saha, and J. K. Dutt. "Denavit-Hartenberg Parameterization of Euler Angles." Journal of Computational and Nonlinear Dynamics 7, no. 2 (2012). http://dx.doi.org/10.1115/1.4005467.
Full textAbstract:
Euler angles describe rotations of a rigid body in three-dimensional Cartesian space, as can be obtained by, say, a spherical joint. The rotation carried out by a spherical joint can also be expressed by using three intersecting revolute joints that can be described using the popular Denavit-Hartenberg (DH) parameters. However, the motions of these revolute joints do not necessarily correspond to any set of the Euler angles. This paper attempts to correlate the Euler angles and DH parameters by introducing a concept of DH parameterization of Euler angels. A systematic approach is presented in order to obtain the DH parameters for any Euler angles set. This gives rise to the concept of Euler-angle-joints (EAJs), which provide rotations equivalent to a particular set of Euler angles. Such EAJs can be conveniently used for the modeling of multibody systems having multiple-degrees-of-freedom joints.