A Unified Notation for Serial, Parallel and Hybrid Kinematic Structures
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.
KeywordsHumanoid Robot Kinematic Chain Parallel Robot Spherical Joint Joint Variable
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