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- W2996194431 abstract "An automatic algorithm to identify Standard Denavit-Hartenberg parameters of serial manipulators is proposed. The method is based on geometric operations and dual vector algebra to process and determine the relative transformation matrices, from which it is computed the Standard Denavit-Hartenberg (DH) parameters (a i , a i , d i , θ i ). The algorithm was tested in several serial robotic manipulators with varying kinematic structures and joint types: the KUKA LBR iiwa R800, the Rethink Robotics Sawyer, the ABB IRB 140, the Universal Robots UR3, the KINOVA MICO, and the Omron Cobra 650. For all these robotic manipulators, the proposed algorithm was capable of correctly identifying a set of DH parameters. The algorithm source code as well as the test scenarios are publicly available." @default.
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- W2996194431 date "2019-10-01" @default.
- W2996194431 modified "2023-09-26" @default.
- W2996194431 title "Automatic Denavit-Hartenberg Parameter Identification for Serial Manipulators" @default.
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- W2996194431 doi "https://doi.org/10.1109/iecon.2019.8927455" @default.
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