Difference between revisions of "Assigning coordinate frames"
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===Notation=== | ===Notation=== | ||
| − | The notation of the links and joints is shown in the figure below. A manipulator consists of <math>n</math> links that are connected with <math>n</math> joints. The links correspond to the rigid parts of an arm and the joints are the flexible connections between them. A joint is always assigned to the proximate link. So a link <math>L_i</math> is connected with its joint | + | The notation of the links and joints is shown in the figure below. A manipulator consists of <math>n</math> links that are connected with <math>n</math> joints. The links correspond to the rigid parts of an arm and the joints are the flexible connections between them. A joint is always assigned to the proximate link. So a link <math>L_i</math> is connected with its joint <math>J_i</math> to the end of link <math>L_{i-1}</math>. The proximate link <math>L_{i+1}</math> is then mounted to the end of <math>L_i</math> via its joint <math>J_{i+1}</math>. The first link <math>L_1</math> is mounted on the base via joint <math>J_1</math> and the end of the last link <math>L_n</math> corresponds to the end-effector. |
| − | The first link is mounted on the base via joint | ||
[[File:links.png|left|850px]] | [[File:links.png|left|850px]] | ||
Revision as of 16:09, 30 October 2015
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To be able to determine the spatial relationship or transformation, respectively, between the links of a manipulator, local coordinate frames have to assigned to them first. There are several rules that have to be observed when assigning coordinate frames following the Denavit-Hartenberg convention.
Notation
The notation of the links and joints is shown in the figure below. A manipulator consists of 
links that are connected with joints. The links correspond to the rigid parts of an arm and the joints are the flexible connections between them. A joint is always assigned to the proximate link. So a link 
is connected with its joint 
to the end of link 
. The proximate link 
is then mounted to the end of via its joint 
. The first link 
is mounted on the base via joint 
and the end of the last link 
corresponds to the end-effector.
