Abstract:
Denavit Harternberg (D-H) is an accepted robot
successfully to model Six degree of Freedom
modern industrial robot in Industries. Since the
current trend of robotic is to move toward the
service and military application which requires
robot in great number of degree of freedom deviate
from a standard six degree of freedom, a new
mathematical modeling is required. This work will
propose the improvement of Denavit - Hartenberg
usage in robot modeling which reduce the
computational burden. Normally one degree of
freedom robot requires one arm matrices as
proposed by D-H method. This paper will propose
two approaches. First is the Modular D-H and
second is the compression of four degree of
freedom robotic system into single arm matrices.
The robustness of Denavit Hartenberg is retained
while improving the computational efficiency.
Another approach of the D-The outcome of this
work is lay foundation for the new robotic era that
mimic biological creature such as snake robot
which posses a high number of degree of freedom.
