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...
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| Principais autores: | , |
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| Formato: | Artigo |
| Idioma: | Inglês |
| Publicado em: |
MDPI AG
2025-04-01
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| coleção: | Applied Sciences |
| Assuntos: | |
| Acesso em linha: | https://www.mdpi.com/2076-3417/15/9/4999 |
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