Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/69773
Título: | Automatic Denavit-Hartenberg parameter identification for serial manipulators |
Autor(es): | Faria, Carlos Vilaça, João L. Monteiro, Sérgio Erlhagen, Wolfram Bicho, Estela |
Palavras-chave: | Denavit-Hartenberg parameters Kinematic identification |
Data: | 2019 |
Editora: | IEEE |
Revista: | IEEE Open Journal of the Industrial Electronics Society |
Citação: | Faria, C., Vilaça, J. L., Monteiro, S., Erlhagen, W., & Bicho, E. (2019, October). Automatic Denavit-Hartenberg parameter identification for serial manipulators. In IECON 2019-45th Annual Conference of the IEEE Industrial Electronics Society (Vol. 1, pp. 610-617). IEEE |
Resumo(s): | An automatic algorithm to identify Standard Denavit-Hartenberg parameters of serial manipulators is proposed. The method is based on geometric operations and dual vector algebra to process and determine the relative transformation matrices, from which it is computed the Standard Denavit-Hartenberg (DH) parameters (ai, ai, di, θi). The algorithm was tested in several serial robotic manipulators with varying kinematic structures and joint types: the KUKA LBR iiwa R800, the Rethink Robotics Sawyer, the ABB IRB 140, the Universal Robots UR3, the KINOVA MICO, and the Omron Cobra 650. For all these robotic manipulators, the proposed algorithm was capable of correctly identifying a set of DH parameters. The algorithm source code as well as the test scenarios are publicly available. |
Tipo: | Artigo em ata de conferência |
URI: | https://hdl.handle.net/1822/69773 |
ISBN: | 978-1-7281-4879-3 |
e-ISBN: | 978-1-7281-4878-6 |
DOI: | 10.1109/IECON.2019.8927455 |
ISSN: | 1553-572X |
Versão da editora: | https://ieeexplore.ieee.org/abstract/document/8927455 |
Arbitragem científica: | yes |
Acesso: | Acesso aberto |
Aparece nas coleções: |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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Automatic_DH_parameters_CFaria_et_al_2019.pdf | 235,48 kB | Adobe PDF | Ver/Abrir |