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Relevant bibliographies by topics / Denavit-Hartenberg transformation

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Journal articles
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Academic literature on the topic 'Denavit-Hartenberg transformation'

Author: Grafiati

Published: 4 June 2021

Last updated: 11 February 2022

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Journal articles on the topic "Denavit-Hartenberg transformation"

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Ding, Feng, and Cong Liu. "Applying coordinate fixed Denavit–Hartenberg method to solve the workspace of drilling robot arm." International Journal of Advanced Robotic Systems 15, no. 4 (2018): 172988141879328. http://dx.doi.org/10.1177/1729881418793283.

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Drilling robot is a piece of large rock drilling equipment that integrates mechanical, electrical, and hydraulic technique, and it is a significant device for drilling and blasting. The drilling robot arm is the core component of the robot. To get intuitive and accurate modeling method to overcome the problem of the classic Denavit–Hartenberg method, for instance, the model mismatches the entity. The coordinate system fixed on the entity of Denavit–Hartenberg notation that is named coordinate-fixed Denavit–Hartenberg is creatively presented. The coordinate-fixed Denavit–Hartenberg method not o

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Steinparz, F. X. "Co-ordinate transformation and robot control with Denavit-Hartenberg matrices." Journal of Microcomputer Applications 8, no. 4 (1985): 303–16. http://dx.doi.org/10.1016/0745-7138(85)90031-4.

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Sharma, G., M. Badescu, A. Dubey, C. Mavroidis, S. M. Tomassone, and M. L. Yarmush. "Kinematics and Workspace Analysis of Protein Based Nano-Actuators." Journal of Mechanical Design 127, no. 4 (2005): 718–27. http://dx.doi.org/10.1115/1.1900751.

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In this paper, a novel nanoscale protein based nano actuator concept is described. Molecular kinematic computational tools are developed and included in our Matlab Biokinematics Toolbox to study the protein nanomotor’s performance using geometric criteria. The computational tools include the development of the molecular motor direct and inverse kinematics using the protein’s Denavit and Hartenberg parameters and the corresponding homogeneous transformation matrices. Furthermore, the workspace calculation and analysis of the protein motor is performed.

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Ding, Ji Bin. "Robotize Kinematics Modeling on the Loading Mechanism of Back-Loaded Compressed Dust Cart." Applied Mechanics and Materials 63-64 (June 2011): 1013–17. http://dx.doi.org/10.4028/www.scientific.net/amm.63-64.1013.

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The three-dimensional geometric kinematics model of the loading mechanism of back-loaded compressed dust cart is established based on the robot kinematics principle and Denavit-Hartenberg（D-H） method. In this paper, the loading mechanism's principle is discussed and it’s institutions simplified robotize model is established, coordinate transformation process and gesture of the skateboard and scraper of the loading mechanism have been studied in the D-H coordinate, has certain significance for improving the product design methods and the manufacturing quality.

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Baločková, Lenka. "The Method for Solving Kinematics of an Industrial Robot." Applied Mechanics and Materials 282 (January 2013): 274–81. http://dx.doi.org/10.4028/www.scientific.net/amm.282.274.

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This article deals with an overview of kinematic structures of industrial operating robots in cartesian, cylindrical, spherical and angular coordinating system. The second half of the article deals with solution of direct kinematics. Each of the coordinate systems is graphically shown and verbally described. Basic transformation matrices are used for the solution of direct kinematics and subsequently the Denavit-Hartenberg method, placing coordinate systems of robotic structure RRRT, is described in details. Calculated workspaces of kinematic structure RRRT are shown at the end of this article

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Xie, Jun, Jun Zhang, and Jie Li. "Mechanism Design and Kinematics Simulation of Massage Mechanical Arm." Applied Mechanics and Materials 101-102 (September 2011): 279–82. http://dx.doi.org/10.4028/www.scientific.net/amm.101-102.279.

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Based on the characteristics and the common massage manipulations of Chinese medical massage, a practical series mechanical arm was presented to act the manipulations with the parallel executive mechanism. Forward kinematics was solved by the Denavit-Hartenberg transformation after the kinematics model of the arm was established. And the three-dimensional model of the arm was created by Pro/E and was imported into ADAMS for the kinematics analysis. The results indicated that the common massage manipulations could be simulated by the arm correctly and flexibly, and it verified the accuracy of t

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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

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Wen, Jian, Lei Zhou, Chun Zhang, and Tong Fen Liang. "Errors Analysis and Calibration on Measuring Mechanical Arm for EVA Spacesuit Ergonomics Research." Key Engineering Materials 474-476 (April 2011): 852–57. http://dx.doi.org/10.4028/www.scientific.net/kem.474-476.852.

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A combined coordinate measuring mechanical arm (CCMMA) was developed to test the operational ability of astronaut in the EVA spacesuit. The equipment measures the space region coordinates of the astronaut’s hand-reach while forces act on a handle. The homogeneous transformation equations of CCMMA are established based on Modified Denavit-Hartenberg (MDH). Measurement error was analyzed and distance error model of CCMMA was set up to improve measurement precision. The improved genetic algorithm is applied to the identification of CCMMA structure parameters. The calibration experiment of CCMMA w

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Guo, Fayong, Hao Cai, Marco Ceccarelli, Tao Li, and Butang Yao. "Enhanced D-H: an improved convention for establishing a robot link coordinate system fixed on the joint." Industrial Robot: the international journal of robotics research and application 47, no. 2 (2019): 197–205. http://dx.doi.org/10.1108/ir-09-2019-0185.

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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 coord

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Reza Elhami, Mohammad, and Iman Dashti. "A New Approach to the Solution of Robot Kinematics Based on Relative Transformation Matrices." IAES International Journal of Robotics and Automation (IJRA) 5, no. 3 (2016): 213. http://dx.doi.org/10.11591/ijra.v5i3.pp213-222.

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In analyzing robot manipulator kinematics, we need to describe relative movement of adjacent linkages or joints in order to obtain the pose of end effector (both position and orientation) in reference coordinate frame. Denavit-Hartenberg established a method based on a 4×4 homogenous matrix so called “A” matrix. This method used by most of the authors for kinematics and dynamic analysis of the robot manipulators. Although it has many advantages, however, finding the elements of this matrix and link/joint’s parameters is sometimes complicated and confusing. By considering these difficulties, th

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Dissertations / Theses on the topic "Denavit-Hartenberg transformation"

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Van, der Zee Lodewyk Francois. "Design of a haptic controller for excavators." Thesis, Stellenbosch : University of Stellenbosch, 2009. http://hdl.handle.net/10019.1/1660.

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Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2009.<br>The input orientation of the excavators in use today usually comprises two joysticks that control the actuator links individually. In order to perform an excavation task, several different combinations of joystick inputs are required, placing high psychomotor demands on the operator. In training an operator this creates a steep learning curve, with a lengthy training time and a reasonable amount of experience being required to perform an excavation task skilfully. In this master’s thesis a hapti

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Conference papers on the topic "Denavit-Hartenberg transformation"

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Barman, Shuvrodeb, and Yujiang Xiang. "Recursive Newton-Euler Dynamics and Sensitivity Analysis for Robot Manipulator With Revolute Joints." In ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/detc2020-22646.

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Abstract In this study, recursive Newton-Euler sensitivity equations are derived for robot manipulator motion planning problems. The dynamics and sensitivity equations depend on the 3 × 3 rotation matrices based on the moving coordinates. Compared to recursive Lagrangian formulation, which depends on 4 × 4 Denavit-Hartenberg (DH) transformation matrices, the moving coordinate formulation increases computational efficiency significantly as the number of matrix multiplications required for each optimization iteration is greatly reduced. A two-link manipulator time-optimal trajectory planning pro

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Valencia, Guillermo E., John C. Turizo, and Marco E. Sanjuan. "A Matlab® GUI (Graphical User Interface) for Generating the Inverse Dynamic Model for Industrial Manipulator Until Five Degrees of Freedom." In ASME 2010 International Mechanical Engineering Congress and Exposition. ASMEDC, 2010. http://dx.doi.org/10.1115/imece2010-40778.

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A Graphical User Interface program in Matlab® for generating the inverse dynamic non linear model of industrial manipulator in symbolic form is presented, that is, the joint torques required for a given set of joint angles, velocities and accelerations of the end -effector. The program, called RIDMD (Robotic Inverse Dynamic Modeling Deduction), is an application of Newton-Euler (NE) Recursive Methods to the derivation of closed form dynamic equations of robots, considered as a group of rigid bodies connected by suitable single degree-of-freedom (DOF) joints. The general procedure implemented i

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Alkhatib, Rami, Tarek El Bobo, Afif Swaidan, Jad Al Soussi, Mohamad O. Diab, and Nassim Khaled. "Design of Robotic Manipulator to Hollow Out Zucchini." In ASME 2020 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/imece2020-24389.

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Abstract Robotics entered the food industry starting from packaging to cooking. Zucchini is an important dish in the Middle Eastern kitchen. The eventual challenge of hollowing out Zucchini is to avoid poking its bottom with the corer. This paper introduces a novel robotic mechanism for hollowing out zucchini tasks precisely and efficiently. The mobility of the robot arm ensured a smooth hollowing while the corer is put in motion. Moreover, frames are assigned to the tip of the corer, holder, zucchini and camera to avoid stabbing the zucchini bottom. Accordingly, the special Euclidean group of

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Murakami, Hidenori. "A Moving Frame Method for Multi-Body Dynamics Using SE(3)." In ASME 2015 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/imece2015-51192.

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To describe the configuration of a multi-body system, Cartesian coordinate systems are attached to all bodies comprising the system. Their connections through joints and force elements are efficiently expressed by using 4×4 matrices of the homogeneous transformation, presented by Denavit and Hartenberg in 1955. However, at this time, there is no systematic method to compute velocities and angular velocities using the matrices of such homogeneous transformations. In this paper, homogeneous transformation matrices are identified as a subset of a Lie group, called the special Euclidean group deno

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Vakil, Mohammad, Hodjat Pendar, and Hassan Zohoor. "A Novel Six Degree-of-Freedom Parallel Manipulator With Three Legs." In ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2004. http://dx.doi.org/10.1115/detc2004-57230.

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In this paper, a novel six degrees-of-freedom (6-DOF) parallel manipulator actuated by three base-mounted partial spherical actuators is proposed. The parallel manipulator consists of a base, a moving platform and three connecting legs. Each leg has spherical (S), prismatic (P) and universal (U) joints (SPU) in serial manner. The spherical joints are partially actuated due to the fact that the actuators of each leg are used only to specify its leg’s direction. The inverse and forward pose kinematics as well as the singularity points of the aforementioned mechanism is described in the article.

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Kunz, Jacob A., Angela Sodemann, and J. Rhett Mayor. "An Investigation Into Fixture Error Compensation in Micromilling Using Tool-Based Conductive Touch-Off." In ASME 2010 International Manufacturing Science and Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/msec2010-34273.

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In micro-milling, decreased tool size leads to a need for tighter tolerances for fixture error in order to avoid excessive tool load and maintain machining accuracy. In 4-axis machining on a curved surface, fixture errors propagate cumulatively leading to a significant error at the tool tip. As a result a compensation approach is essential to successful microfeature production on curved surfaces. Tool stresses are shown to be highly dependent on the amount of fixture error. The scaling down of tool sizes is shown to result in an exponential increase in tool stresses. This paper proposes the us

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Fotouhi, Reza, Hamid Salmasi, Imran Waheed, and Mohammad Vakil. "Trajectory Planning for a Wheeled Mobile Robot and its Robotic Arm." In ASME 2010 International Mechanical Engineering Congress and Exposition. ASMEDC, 2010. http://dx.doi.org/10.1115/imece2010-40800.

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A temporal planning algorithm that is implemented on a wheeled mobile robot is presented. This algorithm has two parts: the first part is developed to control the motion of the mobile robot, and the second part is designed to control a 6-degrees-of-freedom (DOF) arm attached to the robot. In most robotic applications, it is necessary for the mobile robot to plan and follow a desired path. It may also be necessary for the robot to follow a given velocity profile, which is known as temporal planning. The advantage of temporal planning method in this paper is in its simplicity and its computation

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Yu, Liangyao, Sheng Zheng, Jinghu Chang, and Xiaoxue Liu. "Pedal Actuator of Driver Robot Based on Flexible Manipulator." In ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/detc2017-68100.

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In most testing scenarios, driver robot can improve the testing accuracy and reduce the testing time when it replaces human driver. In this paper, an innovative pedal actuator of driver robot based on flexible manipulator is designed. This pedal actuator of driver robot can save the driver cabin space by changing the shape of manipulator according to different vehicle models, so that the human driver can sit in the cabin, together with the driver robot, monitor the testing process and take over the driver robot when necessary. The proposed pedal actuator of driver robot is composed of a flexib

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Moon, Sang-Ku, Yong-Mo Moon, Sridhar Kota, and Robert G. Landers. "Screw Theory Based Metrology for Design and Error Compensation of Machine Tools." In ASME 2001 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2001. http://dx.doi.org/10.1115/detc2001/dac-21083.

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Abstract The paper presents a generalized mathematical framework for computation and compensation of tool tip errors in multi-axis machine tools using screw theory. In contrast to conventional Denavit–Hartenberg notation, Screw theory offers several advantages including: (i) modeling of complex machine tool configurations with rotational axes, (ii) tractability of error propagation which simplifies solution of inverse kinematics and subsequent error-compensation procedures, and (iii) functional representation of error screws in a global reference frame rather than cumbersome coordinate transfo

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Geyer, David E., and Cameron J. Turner. "A Spatial Linkage Exoskeleton for a Shape-Adaptive Mobile Robot." In ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/detc2019-98221.

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Abstract With the goal of developing a spatial linkage exoskeleton for a shape-adaptive mobile robot, capable of navigating obstacle-laden environments through changes in geometry, initial research focused on the nature of axis transformations, and parameters affecting linkages, such as the Denavit-Hartenberg (DH) parameters. Building on this background, angulated linkages are developed such that a series of scissor pairs, two angulated linkages connected at their midpoints, forming a closed-loop. Using the DH parameters, the geometries are considered in the development of a planar model. A ki

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