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翻訳と辞書　辞書検索 [ 開発暫定版 ] スポンサード リンク Denavit–Hartenberg parameters ： ウィキペディア英語版 Denavit–Hartenberg parameters The Denavit–Hartenberg parameters (also called DH parameters) are the four parameters associated with a particular convention for attaching reference frames to the links of a spatial kinematic chain, or robot manipulator. Jacques Denavit and Richard Hartenberg introduced this convention in 1955 in order to standardize the coordinate frames for spatial linkages. Richard Paul demonstrated its value for the kinematic analysis of robotic systems in 1981.〔 〕 While many conventions for attaching references frames have been developed, the Denavit-Hartenberg convention remains a popular approach. ==Denavit-Hartenberg convention== A commonly used convention for selecting frames of reference in robotics applications is the Denavit and Hartenberg (D–H) convention which was introduced by Jacques Denavit and Richard S. Hartenberg. In this convention, coordinate frames are attached to the joints between two links such that one transformation is associated with the joint, (), and the second is associated with the link (). The coordinate transformations along a serial robot consisting of ''n'' links form the kinematics equations of the robot, :$()\; =\; ()()()()\backslash ldots()(),\backslash !$ where () is the transformation locating the end-link. In order to determine the coordinate transformations () and (), the joints connecting the links are modeled as either hinged or sliding joints, each of which have a unique line S in space that forms the joint axis and define the relative movement of the two links. A typical serial robot is characterized by a sequence of six lines Si, ''i=1,...,6,'' one for each joint in the robot. For each sequence of lines Si and Si+1, there is a common normal line Ai,i+1. The system of six joint axes Si and five common normal lines Ai,i+1 form the kinematic skeleton of the typical six degree of freedom serial robot. Denavit and Hartenberg introduced the convention that Z coordinate axes are assigned to the joint axes Si and X coordinate axes are assigned to the common normals Ai,i+1. This convention allows the definition of the movement of links around a common joint axis Si by the screw displacement, : where ''θi'' is the rotation around and ''di'' is the slide along the Z axis---either of the parameters can be constants depending on the structure of the robot. Under this convention the dimensions of each link in the serial chain are defined by the screw displacement around the common normal Ai,i+1 from the joint Si to Si+1, which is given by : where ''αi,i+1'' and ''ri,i+1'' define the physical dimensions of the link in terms of the angle measured around and distance measured along the X axis. In summary, the reference frames are laid out as follows: # the $z$-axis is in the direction of the joint axis # the $x$-axis is parallel to the common normal: $x\_n\; =\; z\_\; \backslash times\; z\_n$ If there is no unique common normal (parallel $z$ axes), then $d$ (below) is a free parameter. The direction of $x\_n$ is from $z\_$ to $z\_n$, as shown in the video below. # the $y$-axis follows from the $x$- and $z$-axis by choosing it to be a right-handed coordinate system. 抄文引用元・出典: フリー百科事典『 ウィキペディア（Wikipedia）』 ■ウィキペディアで「Denavit–Hartenberg parameters」の詳細全文を読む スポンサード リンク 翻訳と辞書 : 翻訳のためのインターネットリソース Copyright(C) kotoba.ne.jp 1997-2016. All Rights Reserved.