Modelling open kinematic chains through general matrix movements

Abstract:

In this work, an innovative method for modelling open kinematic chains in robots is presented, in order to decrease the difficulty level at the moment of assign coordinates systems and obtaining the Denavit-Hartenberg parameters. This method is based in the post-multiplication matrix method, and the fundamental principle of the standard and modified Denavit-Hartenberg's method presented sixty years ago. The method begins of the knowledge of the rest configuration of the robot, to obtain the degrees of freedom of the robot upwardly. To obtain the transformation of coordinates equations, we just has to apply the knowledge of the method to transform coordinates systems geometrically according to general methods. The Continuous General Movement leads to obtain the transformation coordinates matrix, rotations and translations that allow to know the position of the final effector in the robot based in the variables of the robot and the fixed coordinates system. Unlike other methods, it has not have to make some strange movements or assumptions to reach the answer, the Continuous General Movement works in the same direction that the robot moves itself; to reach the final effector takes less parameters and steps to follow, reaching a similar answer as the original method of Denavit-Hartenberg and it involves simple matrix operations and is easily programmable.

Año de publicación:

2016

Keywords:

• robot
• Post-multiplication matrix
• Continuous general movement
• Denavit-Hartenberg

Fuente:

scopus