Manipulator modeling from D-H parameters

Abstract

We propose a new method of robot manipulator modeling. Previous approaches are based on CAD data or Robot library provided by manufacturers. Our modeler provides two approaches of modeling that can be used by ordinary robot researchers. The first approach is to make a robot model composed of modules created by modifying modules from module library. Second approach is to make a robot model using our module designer with a given set of D-H parameters. The D-H parameters are derived from kinematic design based on a given task. In this paper, we introduce our modeler and the second approach.