FORWARD KINEMATICS: THE DENAVIT-HARTENBERG ...

90CHAPTER 3. FORWARD KINEMATICS: THE DENAVIT-HARTENBERG CONVENTION
z0
θ2
θ1
z1
x0, x1
d3
z2
θ4
θ5
θ6 n s
Note: the shoulder (prismatic joint) is mounted wrong.
Figure 3.10: DH coordinate frame assignment for the Stanford manipulator.
Table 3.4: DH parameters for Stanford Manipulator.
Link di ai αi θi
1 0 0 −90 ⋆
2 d2 0 +90 ⋆
3 ⋆ 0 0 0
4 0 0 −90 ⋆
5 0 0 +90 ⋆
6 d6 0 0 ⋆
A2 =
A3 =
A4 =
∗ joint variable
⎡
⎢
⎣
⎡
⎢
⎣
⎡
⎢
⎣
c2 0 s2 0
s2 0 −c2 0
0 1 0 d2
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 d3
0 0 0 1
⎤
⎥
⎦
c4 0 −s4 0
s4 0 c4 0
0 −1 0 0
0 0 0 1
⎤
⎥
⎦
⎤
⎥
⎦
a
(3.36)
(3.37)
(3.38)