AaronLee150102 / AutoDH

Library for automatic extraction of Denavit-Hartenberg parameters

AutoDH

A library for automatic extraction of Denavit-Hartenberg parameters from a robot model.

Install

To install AutoDH run:

$ pip install autodh

OpenRAVE Script

To generate DH parameters from OpenRAVE models use scripts/openrave.py.

Here's an example for Puma from link Base to link Puma6:

$ python scripts/openrave.py robots/pumaarm.zae Base Puma6

Another example for PR2 from link base_link to link r_gripper_palm_link:

$ python scripts/openrave.py robots/pr2-beta-static.zae base_link r_gripper_palm_link

Run Tests

Install test suite dependencies before running unit tests:

$ pip install autodh[test]
$ pytest autodh

References:

• Chittawadigi et. al. “Automatic Extraction of DH Parameters of Serial Manipulators using Line Geometry.” The 2nd International Conference on Multibody System Dynamics, 2012.
• Lipkin H. “A Note on Denavit-Hartenberg Notation in Robotics.“ International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B, 2005.