Autonomous Robotics and Deep Learning by Vishnu Nath & Stephen E. Levinson

Author:Vishnu Nath & Stephen E. Levinson
Language: eng
Format: epub
Publisher: Springer International Publishing, Cham

4.2 DH Parameters of the iCub

A frame of reference is required to describe any physical system. One of the most commonly used convention for selecting frames of reference in robots is the Denavit-Hartenberg convention, also called the DH convention. The DH convention involves four parameters—α, θ, a and d. The names of the parameters are given below:1.α—Link twist

2.θ—Joint angle

3.a—Link length

4.d—Link Offset

The four parameters are associated with a particular link and a particular joint. The parameter “d” is for prismatic joints, while the parameter “θ” is for revolute joints (Spong et al. 2006). The iCub documentation provides the DH parameters for the right hand of the iCub robot. They have been reproduced in Table 4.1 below.Table 4.1DH parameters of the right arm of the iCub (Nath and Levinson 2013a, b)

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