ECE486 Lecture 1: DHconvention.pdf

• School: University of Waterloo
• Department: Electrical and Computer Engineering
• Course: ECE486
• Professor: Stephen L Smith

Document Summary

Step 1: locate and label the joint axes z0, . Set the origin o0 anywhere on the z0-axis. The x0 and y0 axes are chosen to form a right-handed coordinate frame. for i from 1 to n 1 do. Step 3: locate the origin oi of frame i where common normal to zi and zi 1 intersects zi. If zi intersects zi 1, then locate oi at this intersection. If zi and zi 1 are parallel, then locate oi in any convenient position along zi. Step 4: establish xi along the common normal between zi 1 and zi passing through oi. If zi and zi 1 intersect, then establish xi in a direction normal to the plane formed by zi and zi 1. Step 5: establish yi to complete a right-handed frame. Step 6: establish the end e ector frame onxnynzn. If nth joint is revolute, then set zn parallel to zn 1.