A Unified Notation for Serial, Parallel and Hybrid Kinematic Structures

  • Ulrike Thomas
  • Friedrich M. Wahl
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 67)


In this contribution we present a uniform notation for any kind of kinematic structure ranging from serial robots and parallel robots to hybrid kinematic structures as well as from multi-finger grippers to the kinematics of locomotive or humanoid robots. If kinematic structures contain passive joints, they often are of spherical or cardan nature. To describe these types of joints, a new notation based on the well-known Denavit-Hartenberg notation is presented. Additionally, closed kinematic chains and structures with more than one chain attached to a robot basis can be denoted by our graph based representation. Our goal is to provide the robot community with a unified description of kinematic structures - as it has been done by the classical DH-parameter notation for serial robots - in order to support the development for exchangeable programming tools and ideas.


Humanoid Robot Kinematic Chain Parallel Robot Spherical Joint Joint Variable 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Ulrike Thomas
    • 1
  • Friedrich M. Wahl
    • 2
  1. 1.Institut of Robotics and MechatronicsGerman Aerospace Center (DLR)WeßlingGermany
  2. 2.Institute for Robotics and Process ControlTechnische Universität BraunschweigBraunschweigGermany

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