Research on Kinematics Modeling Method of Serial Chain Manipulators

The paper discusses the similarities and differences of four D-H parameter conventions. Based on the theory of pose transformation in rigid body kinematics, the formation process of four D-H parameters and the physical significance of robot kinematics parameters in unified robot description format (URDF) documents are discussed. By transforming the latter kinematics parameters into the D-H parameters, the forward kinematics formula of the serial chain manipulator is obtained. Taking Baxter robot as an example, the process of building robot D-H parameter model is described, which based on the data in URDF document. Then, the correctness of the model is verified by the forward kinematics simulation results.