Algorithmic Modified Denavit–Hartenberg Modeling for Robotic Manipulators Using Line Geometry
This paper proposes a kinematic modeling method for robotic manipulators by extracting the modified Denavit–Hartenberg (MDH) parameters using line geometry. For single-branched manipulators, various joint axes can be represented as lines using Plücker coordinates. The forward kinematics is derived b...
Gorde:
| Egile Nagusiak: | , |
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| Formatua: | Artigo |
| Hizkuntza: | Inglês |
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MDPI AG
2025-04-01
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| Saila: | Applied Sciences |
| Gaiak: | |
| Sarrera elektronikoa: | https://www.mdpi.com/2076-3417/15/9/4999 |
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