Open AccessAPPLICATION OF DENAVIT HARTENBERG METHOD IN SERVICE ROBOTICS
Author(s) -
Erik Prada,
Srikanth Murali,
Ľubica Miková,
Jana Ligušová
Publication year - 2020
Publication title -
acta mechatronica
Language(s) - English
Resource type - Journals
ISSN - 2453-7306
DOI - 10.22306/am.v5i4.68
Subject(s) - robotics , artificial intelligence , computer science , software deployment , mobile robot , transformational leadership , robotic paradigms , humanoid robot , robot , human–computer interaction , software engineering , public relations , political science
This work focuses primarily on the D-H method, as one of the most important methods used in the process of designing robotic structures. In the introduction, the history of the D-H method and its general use is briefly mentioned. In the following section, the algorithm for applying D-H in the form of mathematical formalism is explained. In this part, the individual steps of creating transformational relationships are explained in more detail. The next chapters deal in more detail with individual application types within service robotics. The first type deals with the application deployment of the mobile robotic platform, the second deals with the mobile humanoid robotic structure, the other deals with the fourlegged robotic mechanism and the last type with the application of the robotic arm.