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Djoko Purwanto (djoko@ee.its.ac.id) - ITS Surabaya

Denavit-Hartenberg (DH) Parameters adalah 4 buah parameter yang
menghubungkan antar sistem koordinat pada joint dan link sebuah robot.

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 Dalam sistem koordinat homogen (homogeneous coordinate system),
perhitungan transformasi geometri menjadi lebih sederhana.
Vektor dalam Representasi Homogen
 x  x 
 x  y  x  y 
 y    or  y   
  z    z 
 z     z   
1   
Transformasi Matrik Homogen
 R3 x 3 t3 x1 
A=
 p1x 3 s1x1 
 Rotation Matrix Translation Vector 
A= 
 Perpective Transformation Scaling Factor 
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Transformasi Matrik Homogen 3D

Translasi Rotasi terhadap sumbu x

1 0 0 qx  1 0 0 0
0 1 0 q y  0 c − s 0
A
TB (q) =  A
RB ( x,  ) = 
0 0 1 qz   0 s c 0
   
0 0 0 1 0 0 0 1

Rotasi terhadap sumbu z Rotasi terhadap sumbu y

c − s 0 0  c 0 s 0
 s c 0 0  0 1 0 0
A
RB ( z ,  ) =  A
RB ( y,  ) = 
0 0 1 0  − s 0 c 0
   
0 0 0 1  0 0 0 1

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Standar Sistem Koordinat

❑ Arah sumbu z tegak lurus dengan arah rotasi untuk tipe joint rotasional, dan
searah dengan arah translasi untuk tipe joint translasional.
❑ Sumbu zi terletak pada joint yang ke (i+1).
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Parameter DH

ai : offset distance between two adjacent joint axes

di : translational distance between two incident normals of a joint axis
i : twist angle between two adjacent joint axes
i : joint angle between two incident normals of a joint axis

Matrik Transformasi Homogen dengan Parameter DH

i −1
Ai = T ( z, d ) R( z, )T ( x, a) R( x,  )

c i − c i s i s i s i ai c i 
 s c i c i − s i c i ai s i 
i −1
Ai =  i
 0 s i c i di 
 
 0 0 0 1 

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Joint i i ai di i
1 0 a1 0 1
2 0 a2 0 2
3 0 a3 0 3

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 c1 − s1 0 a1 c1  c 2 − s 2 0 a2 c 2  c 3 − s 3 0 a3 c 3 
 s  s 0 a3 s 3 
 s c1 0 a1 s1  c 2 0 a2 s 2  c 3
0
A1 =  1 1
A2 =  2
2
A3 =  3
 0 0 1 0   0 0 1 0   0 0 1 0 
     
 0 0 0 1   0 0 0 1   0 0 0 1 

0
A3 = 0A1 1A2 2A3

c123 − s123 0 a1 c1 + a2 c12 + a3 c123 

 s c123 0 a1 s1 + a2 s12 + a3 s123 
0
A3 =  123
 0 0 1 0 
 
 0 0 0 1 

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0
Qˆ = 0A3 3Qˆ where
3
Qˆ = 0 0 0 1 T

c123 − s123 0 a1 c1 + a2 c12 + a3 c123  0

 s c123 0 a1 s1 + a2 s12 + a3 s123  0
Q =  123
0 ˆ
 0 0 1 0  0 
  
 0 0 0 1  1
a1 c1 + a2 c12 + a3 c123 
 a s + a s12 + a3 s123 
Q = 1 1 2
0 ˆ
 0 
 
 1 

q x = a1 c1 + a2 c12 + a3 c123

q y = a1 s1 + a2 s12 + a3 s123
qz = 0

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 y2
a2
x2 a3
y1 z2
3
z1 x1 y3
2
End-effector
z3
1 Q x3
d1
z0

y0
Reference x0

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 Joint, i i ai di i
1 /2 0 d1 1
2 0 a2 0 2
3 0 a3 0 3

c1 0 s1 0 c 2 − s 2 0 a2 c 2  c 3 − s 3 0 a3c 3 

 s  s 0 a2 s 2   s 0 a3 s 3 
0 − c1 0  c 2 c 3
0
A1 =  1
1
A2 =  2 2
A3 =  3
 0 1 0 d1   0 0 1 0   0 0 1 0 
     
 0 0 0 1  0 0 0 1   0 0 0 1 

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Posisi end-effector robot Q terhadap referensi dalam bentuk homogen

0
Qˆ = 0A1 1 A2 2 A3 3Qˆ
3
Qˆ = 0 0 0 1 T

c1 (a2 c 2 + a3 c 23 )
 s (a c + a c )
Q= 1 2 2
0 ˆ 3 23 

 d1 + a2 s 2 + a3 s 23 
 
 1 

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Joint i i ai di i
1 0 a1 d1 1+ /2
2  a2 0 2
3 0 0 d3 0
4 0 0 d4 4

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Joint i i ai di i
1  /2 a1 0 1
2 0 a2 0  / 2 + 2
3  / 2 a3 0 3
4 −  / 2 0 d4 4
5  /2 0 0 5
6 0 0 d6 6

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