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Improved Robot-Joint CalculationsModified Denavit-Hartenberg parameters better for locating successive joint-axis systems. Modification results from insistence that transverse vector between successive joint rotational axes be perpendicular to one of rotational axes instead of both axes. Useful in industrial calibration of robot arms.
Document ID
19880000435
Acquisition Source
Legacy CDMS
Document Type
Other - NASA Tech Brief
Authors
Barker, L. Keith (NASA Langley Research Center, Hampton, Va.)
Date Acquired
August 13, 2013
Publication Date
September 1, 1988
Publication Information
Publication: NASA Tech Briefs
Volume: 12
Issue: 8
ISSN: 0145-319X
Subject Category
Machinery
Report/Patent Number
LAR-13682
Accession Number
88B10435
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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