Degree of Freedom Compression in Denavit - Hartenberg Modeling for Huge number of Degree of Freedom Biomimetic Robotic System

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.