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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| Główni autorzy: | , |
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| Format: | Artigo |
| Język: | Inglês |
| Wydane: |
MDPI AG
2025-04-01
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| Seria: | Applied Sciences |
| Hasła przedmiotowe: | |
| Dostęp online: | https://www.mdpi.com/2076-3417/15/9/4999 |
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