Biomedical Engineering Reference
In-Depth Information
Table 2.1
DH Parameters for the Lower Limb
Joint
θ
i
α
i
a
i
d
i
1
0
0
π=2
q
1
2
0
9
0
q
2
3
0
11
0
q
3
4
q
4
1
π=2
0
3
0
2
4
3
5
cos
q
2
sin
q
2
9 cos
q
2
2
0
sin
q
2
cos
q
2
9 sin
q
2
0
1
T
2
5
(2.57)
0
0
1
0
0
0
0
1
2
4
3
5
cos
q
3
sin
q
3
0
11 cos
q
3
2
sin
q
3
cos
q
3
0
11 sin
q
3
2
T
3
5
(2.58)
0
0
1
0
0
0
0
1
2
4
3
5
sin
q
4
cos
q
4
0
3 sin
q
4
2
2
2
cos
q
4
sin
q
4
0
3 cos
q
4
2
3
T
4
5
(2.59)
0
0
1
0
0
0
0
1
d.
To relate the first frame to the fourth frame, the following multiplication of
homogeneous transformation matrices must be carried out:
0
T
1
1
T
2
2
T
3
3
0
T
4
5
T
4
(2.60)
where the resulting (4
4) matrix
3
2
4
3
5
n
x
o
x
a
x
p
x
n
y
o
y
a
y
p
y
n
z
o
z
a
z
p
z
0001
0
T
4
5
(2.61)
where,
n
x
52
cos
q
1
sin
ð
q
2
1
q
3
1
q
4
Þ
(2.62)
n
y
52
sin
q
1
sin
ð
q
2
1
q
3
1
q
4
Þ
(2.63)
n
z
5
cos
ðq
2
1
q
3
1
q
4
Þ
(2.64)
s
x
52
cos
q
1
cos
ðq
2
1
q
3
1
q
4
Þ
(2.65)
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