Modified Denavit Hartenberg notation

This page lists materials needed to understand and integrate the Modified Denavit Hartenberg notation needed for calibration.

The modified notations is taken from the book [[http://faculty.eng.fau.edu/rothz/files/2010/11/FUNDAMENTALS-OF-MANIPULATOR-CALIBRATION.pdf]] written by Mooring, Roth, Driels (page 45).

The geometrical relationship between standard DH notation and its modified version is in the figure modifiedDH1.pdf below.
The analysis of the formulas is given in Mathematica notebook file.
The Matlab conversion function is also attached.

ModifiedDH.nb - Mathematica notebook file describing conversion (118 KB) Vladimir Smutny, 10/17/2013 17:31

ModifiedToStandardDH.m - Matlab conversion function (1.55 KB) Vladimir Smutny, 10/17/2013 17:31

modifiedDH1.pdf - Figure describing relationship of both notations (9.57 KB) Vladimir Smutny, 10/17/2013 17:31

ModifiedDH.pdf - PDF version of the Mathematica notebook. (56.7 KB) Vladimir Smutny, 10/22/2013 17:43