This is for a medical project but it will include a two-links and two-joint robotic arm to control the position of a laser beam... I understand D-H convention and I'm studying about Sheth method, but I want to know if there is any novel method than those.
D-H actually is means Denavit-Hartenberg. There are many methods for calculating the direct kinematics of the serial link robot, D-H is indeed the most known method. Easier method is method by Jadran Lenarčič. The method is described in book Robotics (Springer, Intelligent Systems, Control and Automation: Science and Engineering, Volume 43 2010, Robotics) in chapter Geometric description of the robot mechanism (http://link.springer.com/chapter/10.1007/978-90-481-3776-3_3). Main author of the book is Tadej Bajd.
Hey were you referring to Euler angles method?? It is a quite little book, but very complet, but I can't see a novel method
Actually I was referring to method called Vector parameters of the mechanism. It is described in Chapter 3, page 26. It is definitely one of the simplest method for direct kinematics.
It can be easier method due to the robotic manipulator which you use. For instance, if your robot arm is planar or spherical, direct and inverse kinematics will be easier than a spatial robot arm.
You are speaking about a 2 joint robot. Is it serial or Parallel ? The methods are not the same for each case. Are you needing the inverse or the direct geometrical model? In the case it 's a serial robot, I assume that a very simple analytical combination of equations of geometry will help you to go faster to your model. Send me the kinematic representation of the robot and will try to help you!
I'm sorry I'm answering now, I was little bussy. I know a serial configuration is different than parallel, DH parameters say it. I made the inverse kinematics analysis of my dual-revolute orthogonal "arm"... I'll send you the analysis (attachments.zip). I think they are good, but I haven't checked it well. Thank you a lot :)
Will have a look to that....
An advice.... may be you already did it !
...... When having a complex kinematics (& even if it is simple) and you have to develop the geometric model (Direct or Inverse !). You may use software simulation tools to check your analytical model. One of the simplest tools is : SimMechanics provided with Matlab.
Best.
Mohamed
Thank you for the advice. In fact I'm using a more-less like SimMechanics, the robotics module in LabVIEW, but as I need to justify my design I need to made the calculus, that's why I'm doing that.
Explain me what are your objectives and your procedure and I will help you (if needed!). If you want to do it privately by email : please do.... Mohamed
Look I need to drive a laser pointer in a device like this: http://www.triquitraqueando.com/tiendita/pan-tilt_servos , this is a dual-orthogonal configuration arm (the goal to do it is to make laser tracking therapies for visual hemifield diseases patients and to induce neuroplasticity... ). The medics need to design their own therapies in a specialized software that I have almost finished and then control the servomechanical arm. I made the DH chart and it looks good (but if you want I could send it to you too), but I made the inverse kinematics analysis like you see. I need to know the angles to spin servo 1 and 2 to point the laser in a given position
if you want to solve kinematics equations i can suggest quaternion algebra, exponential rotational matrix algebra , lie algebra and also dual number.
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