摄像机机器人URDF到DH的模型转换算法

2022 International Conference on Culture-Oriented Science and Technology (CoST) Pub Date : 2022-08-01 DOI:10.1109/CoST57098.2022.00037

Jing He, M. Zhang, Feng Xu, Qiang Liu, He Li

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引用次数: 1

摘要

采用统一机器人描述格式(URDF)对摄像机机器人的运动参数进行描述。与DH (Denavit-Hartenberg)方法相比，URDF方法更加灵活。但DH方法在位置级反解控制方面具有优势。有时由于工程项目的模块化、安全性等要求，只能获取URDF文件。将DH转换为URDF很容易。对逆变换的研究还很缺乏。本文提出了三种转换原则。将基坐标系与关节坐标系的关系分为六种情况。根据这三个原理求解DH变换参数。最后给出了串行节点链的扩展转换算法。机器人从URDF到DH的运动学转换算法为工程项目的需求提供了一种数学工具。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A Model Conversion Algorithm from URDF to DH for Camera Robot

The kinematic parameters of camera robot are described by Unified Robot Description Format (URDF). Compared to Denavit-Hartenberg (DH) method, URDF is more flexible. But DH method has an advantage in inverse solution control at position level. Sometimes only URDF file can be obtained due to the engineering project requirements, such as modularity and security. It is easy to convert DH to URDF. There is a lack of research for inverse conversion. In this paper, three conversion principles were proposed. The relationship of base coordinate system and joint coordinate system was divided into six situations. The DH transformation parameters were solved based on the three principles. Finally the extend conversion algorithm for serial joints chain was supplied. The robot kinematic conversion algorithm from URDF to DH provides a mathematical tool for requirements of engineering projects.

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来源期刊

2022 International Conference on Culture-Oriented Science and Technology (CoST)

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