Transformation matrix from D-H Parameters

Transformation matrix from D-H Parameters

This tool helps in calculating Transformation matrices often required when working on Serial Robots for kinematics/control/dynamics. It uses the most common method of representing joints and links, i.e. DH parameters. Please follow along the steps to use it for your application.

Step 1: Define Z Axis

Choose z_i along the axis of motion of the i+1^th link.

Step 1: Define Z Axis

Go along all the Joints in the Robot and define Z axis for each joint as shown above.

Step 2: Define X Axis

Choose x_i such that it is the shortest vector between z_i-1 and z_i.

Step 3: Get D-H Parameters

Step 3: Get D-H Parameters

Now enter the 4 DH parameters into the tool shown below.

a:

a_i is the distance between z_i-1 and x_i along the direction of x_i

alpha:

(In Degrees) α_i is the angle between z_i-1 and z_i along x_i

d:

d_i is the distance between z_i-1 and x_i along the direction of z_i-1

theta:

(In Degrees) θ_i is the angle between x_i-1 and x_i alongz_i-1

NOTE: units of a and d should be same.

link

a

alpha

d

theta

Matrix

Step 4: Get Transformation matrix

Use this Transformation matrix to calculate Inverse and Forward Kinematics.

T = [[l.name]] *

T = (I)