| Abstrakt: |
This article presents a comparative study of the required number arithmetic operations necessary for computing robot arm models using the Denavit-Hartenberg symbolic notation and a proposed one. The proposed notation is based on the idea of describing the motion of a robot joint by a pair matrix and the geometry of a link by a shape matrix. This notation needs the use of two coordinate systems for each joint or link. The results prove dial the proposed notation reduces the computation time or robot models. For a 6-degrees of freedom robot arm, the computation times of kinematic position, velocity, and dynamic models are reduced respectively by 20%, 5%, and 2%, respectively. The two notations have the same effects on computing the inverse models. [ABSTRACT FROM AUTHOR] |
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