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Advanced Robotics
Lecture 4
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57
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R. S. Hartenberg and J. Denavit, A kinematic notation for lower
pair mechanisms based on matrices, Journal of Applied Mechanics,
vol. 77, pp. 215221, June 1955.
Transformation in a joint is described by 4 parameters
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60
R. S. Hartenberg and J. Denavit, A kinematic notation for lower
pair mechanisms based on matrices, Journal of Applied Mechanics,
vol. 77, pp. 215221, June 1955.
Transformation in a joint is described by 4 parameters
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61
R. S. Hartenberg and J. Denavit, A kinematic notation for lower
pair mechanisms based on matrices, Journal of Applied Mechanics,
vol. 77, pp. 215221, June 1955.
Transformation in a joint is described by 4 parameters
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62
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63
R. S. Hartenberg and J. Denavit, A kinematic notation for lower
pair mechanisms based on matrices, Journal of Applied Mechanics,
vol. 77, pp. 215221, June 1955.
Transformation in a joint is described by 4 parameters
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64
R. S. Hartenberg and J. Denavit, A kinematic notation for lower
pair mechanisms based on matrices, Journal of Applied Mechanics,
vol. 77, pp. 215221, June 1955.
Transformation in a joint is described by 4 parameters
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65
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66
Transformation in a joint is described by 4 parameters
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Transformation in a joint is described by 4 parameters
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RV-6S/6SC
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MATLAB simulation in ROBOT toolbox:
mRV6S =
RV-6S (6 axis, RRRRRR) [Mitsubishi] grav = [0.00 0.00 9.81]
alpha_i a_i theta_i d_i R/P standard D&H parameters-1.570796
85.000 parameter 350.000 R (std)0.000000 280.000 parameter 0.000 R
(std)-1.570796 100.000 parameter 0.000 R (std)1.570796 0.000
parameter 315.000 R (std)-1.570796 0.000 parameter 0.000 R
(std)0.000000 0.000 parameter 85.000 R (std)
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Joint (osa)
Link (rameno)Rotation axis
2 joints with intersecting rotation axes
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3D View
Top view (nrys)
Side view (bokorys)
Joint (osa)
