NASA NTRS · 19880000435
Improved Robot-Joint Calculations
Abstract
Modified Denavit-Hartenberg parameters better for locating successive joint-axis systems. Modification results from insistence that transverse vector between successive joint rotational axes be perpendicular to one of rotational axes instead of both axes. Useful in industrial calibration of robot arms.
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Barker, L. Keith. 1988-09-01. Improved Robot-Joint Calculations. https://ntrs.nasa.gov/citations/19880000435
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