Comparison between standard and modified Denavit-Hartenberg Methods in Robotics Modelling

Abstract

In the present article, the matrix fundamental method of Denavit and Hartenberg standard and modified are faced, after the comparison has been made, it is demonstrated that in boot cases is similar the way how the links and joints are numerated. The links are numerated in ascending order starting from 0 fixed link to n the last thing, in the same way the joints are numerated from 1 going forward, following in the same case the cinematic chain, also the matrices product is used in the same sequence of the movements made for the mobile coordinates systems. The two methods has different forms to assign coordinates systems. In the standard D-H method the origin of the system I is along the axis of the articulation i+1, and the sequence of movements is rotation and translation in Z, after that a translation and rotation along X is made. In the modified D-H method the origin of the systems i is along the joint I, and the sequence of movements is rotation and translation along X and the rotation and translation along Z.