Denavit-Hartenberg

Introduction to Robotics Reminder

• Specialized description of articulated
figures
Tutorials 1-3 • Each joint has only one degree of
freedom

Technion, cs department, Introduction to Robotics 236927

• rotate around its z-axis
Winter 2010-2011 • translate along its z-axis
[Link]
1 [Link]
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Denavit-Hartenberg Denavit-Hartenberg
• Link offset di • Link rotation (joint angle) φi (In the movie - θ)
• The distance between the origins of the coordinate • The angle between the link lenghts αi-1 and αi
frames attached to jointi and jointi+1 • Angle around zi-axis
• Measured along the axis of jointi

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 Denavit-Hartenberg Denavit-Hartenberg
• Link length ai (In the movie - r) • Link twist αi
• The perpendicular distance between the axes of • The angle between the axes of jointi and jointi+1
jointi and jointi+1 • Angle around xi-axis

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Denavit-Hartenberg Denavit-Hartenberg
[Link] the link vector ai and the link length

[Link] coordinate frames to the joint axes

This transformation is done in several steps :
[Link] the link twist αi
• Rotate the link twist angle αi around the axis xi
[Link] the link offset di
•Translate the link length ai along the axis xi
[Link] the joint angle φi
•Translate the link offset di along the axis zi
[Link] the transformation (i-1)Ti which transforms entities from
linki to linki-1 •Rotate the joint angle φi around the axis zi
- 2 Special Cases -
iT = R zi (ϕ i )T zi (d i )T xi (a i )R xi (α i )
(i −1 )

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 Denavit-Hartenberg Denavit-Hartenberg
(i −1 )
T = R zi (ϕ i )T zi (d i )T xi (a i )R xi (α i )
i T = R zi (ϕ i )T zi (d i )T xi (a i )R xi (α i )
(i −1 )
i

1 0 0 0 1 0 0 ai 
0 Multiplying the matrices :
0 cos α i − sin α i 0 1 0 0
R xi (α i ) =   T xi (a i ) =  
0 sin α i cos α i 0 0 0 1 0
     cos ϕ i − sin ϕ i cos α i sin ϕ i sin α i a i cos ϕ i 
0 0 0 1 0 0 0 1  sin ϕ
(i −1 ) cos ϕ i cos α i − cos ϕ i sin α i a i sin ϕ i 
iT =
 i 
 cos ϕ i − sin ϕ i 0 0 1 0 0 0  0 sin α i cos α i di 
 sin ϕ cos ϕ i 0 0 0 1 0 0  
R zi (ϕ i ) =  i  T zi (d i ) =    0 0 0 1 
 0 0 1 0 0 0 1 di 
    In DH only φ and d are allowed to change.
 0 0 0 1 0 0 0 1
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End effector End effector

• End effector - the last coordinate system of figure
• Located in joint N. A transformation from the link N to the base :

• But usually, we want to specify it in base

coordinates.

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 End effector End effector
• We can also express it as • The origin of a coordinate frame relative
• three rotations (around each of the to some base coordinate frame is
coordinate axes) specified by the translation :

• followed by a translation

• How can we establish a relation with

the other expression ?
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End effector
End effector
• Any 3D orientation relative to
some base coordinate frame
can be specified by :
three rotations, one around
each of the coordinate axes.

We do them in this order : around x, y, z. 15 16

 End effector End effector
• Orientation
• Finally, the transformation from a coordinate frame to
• The roll, pitch and yaw transformation is the base frame is expressed :
then expressed :

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End effector End effector

We can obtain the yaw angle :

We obtain directly the translation vector : Because :

arctan is π-periodic. Let’s use our function

arctan2 to get the right angle.

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 End effector End effector

Knowing the yaw angle, we can obtain

the pitch angle : We can obtain the roll angle :
Because :
Because :

Again, let’s use our function arctan2 :

Again, let’s use our function arctan2 :

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End effector End effector

Let’s define the state vector As previously shown,

The state vector is composed of elements of this

matrix. It’s also a function of joint parameters :

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 DH Example - 3 revolute joints DH Example - 3 revolute joints
Shown in home position Shown with joints in non-zero positions

joint 1
Z0 x3
R z3
Link 2 θ2 θ3
x2
Link 1 Link 3 x1
θ1 Z2
x0
joint 2 joint 3
Z1
L1 L2
Observe that frame i moves with link i

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[Link] the link vector ai and the link length [Link] the link vector ai and the link length

2. Attach coordinate frames to the joint axes 2. Attach coordinate frames to the joint axes

[Link] the link twist αi [Link] the link twist αi

[Link] the link offset di [Link] the link offset di

[Link] the joint angle φi [Link] the joint angle φi

[Link] the transformation (i-1)Ti [Link] the transformation (i-1)Ti

joint 1

R  cos ϕ i − sin ϕ i cos α i sin ϕ i sin α i a i cos ϕ i 

Link 2  sin ϕ
(i −1 ) cos ϕ i cos α i − cos ϕ i sin α i a i sin ϕ i 
iT =
 i 
Link 3  0 sin α i cos α i di 
Link 1  
 0 0 0 1 
joint 2 joint 3

L1 L2 27 28
 DH Example Example – the Stanford Arm

where

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Example – the Stanford Arm

Z7
Z6
Pinhole Camera
Z4
X7 Z5

X6 X4
X3
d θy
i ai di αi θi d3
Z2

1
X5
X2
Z1
Z3 dy
2 d2

3
4
d1
dy = d tan θ y
5
Y1
dx = d tan θ x
X1
6
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 Imaging Imaging  x
y3  x  y
 x  
 y  y Z0 x3  z  0
  x3   z3
 z  0 z3  z  3 θ2 θ3
x2
• Given a point. What is its image? (dx,dy) x x x1
Z2
θ1
• Solution:  y = T  y
  0  
3 x0
Z1
• Convert the point’s coordinates to the  z  3  z  0
T = ( N0T )
−1
camera coordinate system. tan (θ y ) =
N z y3
0 tan (θ x ) = 3
• Derive θ and θ
x y
x3 x3

dy = d tan (θ y ) = d
z3 y3
dx = d tan (θ x ) = d
• Calculate dx and dy. 33
x3 x3
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Imaging Example Imaging Example

• Let, θ1 = 90o θ 2 = 45o θ3 = −90o
R=0 L1 = 10 L2 = 0
d =1
• What is the location of the end effector? where

• Draw the image of the box with

coordinates
[ p1 ]0 = (0,18,0) [ p2 ]0 = (5,18,0) θ1 = 90o θ 2 = 45o θ3 = −90o
[ p3 ]0 = (5,18,5) [ p4 ]0 = (0,18,5) R=0 L1 = 10 L2 = 0
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Imaging Example
 2 2 
0 − 0 
 2 2 
0T = ( 3T ) = 0
 2 2
− 10
3 0 −1

 2 2 
1 0 0 0 
 
0 0 0 1 

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