中国机械工程Issue(20)：2710-2714,5.DOI:10.3969/j.issn.1004-132X.2014.20.003
D-H 法建立连杆坐标系存在的问题及改进
Problems and Improvement of D-H Method for Establishing Connecting Rod Coordinate System
摘要
Abstract
Robot kinematics modeling needs clear physical concepts .Widely used standard D-H method allowed the coordinate system to establish on the extension of axis ,leading to the problems such as inapplicability for all the joints modeling ,the model unmatching the entity and w rong local joint position analysis ,etc .In order to get unified ,intuitive and accurate modeling method ,a unified en-tity modeling method ,the coordinate system fixed on the entity of D-H notation(CFDH) was presen-ted .How to establish the coordinate system with CFDH and the method to obtain the parameters were illustrated;a six DOF mechanical arm model was built using the D-H and CFDH method respectively , and Newton-Raphson inverse solution was used for the two methods ,then comparing with the compu-tational complexity .Simulation and experimental results show that CFDH method meets the require-ments of robot kinematics model ,solved the problems exiting in D-H method .关键词
改进D-H法/坐标系固定的D-H法/运动学/机器人建模Key words
modified D-H/coordinate fixed D-H/kinematics/robot modeling分类
信息技术与安全科学引用本文复制引用
郭发勇,梅涛,赵江海..D-H 法建立连杆坐标系存在的问题及改进[J].中国机械工程,2014,(20):2710-2714,5.基金项目
江苏省科技支撑计划资助项目（BE2012057）；江苏省产学研前瞻性联合研究项目 （）
