research-article

Identification of Denavit-Hartenberg Parameters of an Industrial Robot

Authors:

Abdullah Aamir Hayat,

Rajeevlochana G. Chittawadigi,

Arun Dayal Udai,

Subir K. SahaAuthors Info & Claims

AIR '13: Proceedings of Conference on Advances In Robotics

Pages 1 - 6

https://doi.org/10.1145/2506095.2506121

Published: 04 July 2013 Publication History

Abstract

Kinematic identification of a serial robot has been an active field of research as the need for improving the accuracy of a robot is increasing with time. Denavit-Hartenberg (DH) parameters of a serial robot, which are typically used to represent its architecture, are usually provided by its manufacturer. At times these parameters are not the same and hence they need to be identified. An analytical method proposed elsewhere was used here for identification of an industrial robot by noting the values of the point on the end-effector due to rotation of each joint, locking all other joints, were found out using singular value decomposition. The DH parameters of the robot determined using the proposed methodology, matched satisfactorily with the robot specifications. Also, the bounding volume for the joint ranges infers that a smaller measurement volume relative to the robot workspace is required thus facilitating the use of measurement devices which have smaller range of measurement.

References

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Published In

cover image ACM Other conferences

AIR '13: Proceedings of Conference on Advances In Robotics

July 2013

366 pages

ISBN:9781450323475

DOI:10.1145/2506095

Co-chairs:
Alok Mukherjee
R&DE (Engrs.), Pune
,
Anuj Kapuria
Hi-Tech Robotic Systemz Ltd, Gurgaon
,
Program Chairs:
Tom Shibata
NIST, Japan
,
Santanu Chaudhury
IIT Delhi, India
,
Publications Chair:
Subir Kumar Saha
IIT Delhi, India

Copyright © 2013 ACM.

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 04 July 2013

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AIR '13

AIR '13: Advances In Robotics 2013

July 4 - 6, 2013

Pune, India

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Cited By

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https://doi.org/10.3390/math12030431
Jiang WWang XLiu Z(2024)Control and physical verification of 6-DOF manipulator for power inspection robots based on expert PID algorithmFrontiers in Energy Research10.3389/fenrg.2024.136790312Online publication date: 8-Apr-2024
https://doi.org/10.3389/fenrg.2024.1367903
Csillag ADávid LMárton LGyörfi EKöllő Z(2024)Intelligent Kinematic Control of a Quadrupedal Mobile Robot2024 IEEE 22nd Jubilee International Symposium on Intelligent Systems and Informatics (SISY)10.1109/SISY62279.2024.10737619(000067-000072)Online publication date: 19-Sep-2024
https://doi.org/10.1109/SISY62279.2024.10737619
Shchigol ESaypulaev GChakheev Y(2024)Application of Mathematical Packages in Simulation the Kinematics of a Multilink Manipulator in the Educational Process2024 7th International Conference on Information Technologies in Engineering Education (Inforino)10.1109/Inforino60363.2024.10552023(1-6)Online publication date: 16-Apr-2024
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Chittawadigi R(2024)Effective Visualization and Validation of Motion of a Mechanical System Using Application Programming Interface of a CAD SoftwareRecent Advances in Machines, Mechanisms, Materials and Design10.1007/978-981-97-5423-6_66(823-834)Online publication date: 6-Oct-2024
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