当前位置:网站首页>Theoretical knowledge of improved DH parameters and standard DH parameters of manipulator

Theoretical knowledge of improved DH parameters and standard DH parameters of manipulator

2022-06-12 12:40:00 April 16!

  Around the X Shaft rotation :

  Around the Y Shaft rotation :

  Around the Z Shaft rotation :

 

SDH yes ZX Class transformation ,MDH yes XZ Class transformation  

ZX Class transformation : Go around Zi-1(i-1 Coordinate system ) Axis rotation and Translation , Then go around Xi(i Coordinate system ) Axis rotation and Translation

XZ Class transformation : Go around Xi-1(i-1 Coordinate system ) Axis rotation and Translation , Then go around Zi(i Coordinate system ) Axis rotation and Translation

SDH: Transformation matrix

MDH: Transformation matrix

 

 

 

 

原网站

版权声明
本文为[April 16!]所创,转载请带上原文链接,感谢
https://yzsam.com/2022/163/202206121225300077.html