Euler angles describe rotations of a rigid body in three-dimensional Cartesian space, as can be obtained by, say, a spherical joint. The rotation carried out by a spherical joint can also be expressed by using three intersecting revolute joints that can be described using the popular Denavit-Hartenberg (DH) parameters. However, the motions of these revolute joints do not necessarily correspond to any set of the Euler angles. This paper attempts to correlate the Euler angles and DH parameters by introducing a concept of DH parameterization of Euler angels. A systematic approach is presented in order to obtain the DH parameters for any Euler angles set. This gives rise to the concept of Euler-angle-joints (EAJs), which provide rotations equivalent to a particular set of Euler angles. Such EAJs can be conveniently used for the modeling of multibody systems having multiple-degrees-of-freedom joints.
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e-mail: surilvshah@gmail.com
e-mail: saha@mech.iitd.ac.in
e-mail: jkdutt@mech.iitd.ac.in
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April 2012
Research Papers
Denavit-Hartenberg Parameterization of Euler Angles
S. V. Shah,
S. V. Shah
Department of Mechanical Engineering,
e-mail: surilvshah@gmail.com
Indian Institute of Technology Delhi
, New Delhi 110016, India
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S. K. Saha,
S. K. Saha
Department of Mechanical Engineering,
e-mail: saha@mech.iitd.ac.in
Indian Institute of Technology Delhi
, New Delhi 110016, India
Search for other works by this author on:
J. K. Dutt
J. K. Dutt
Department of Mechanical Engineering,
e-mail: jkdutt@mech.iitd.ac.in
Indian Institute of Technology Delhi
, New Delhi 110016, India
Search for other works by this author on:
S. V. Shah
Department of Mechanical Engineering,
Indian Institute of Technology Delhi
, New Delhi 110016, India
e-mail: surilvshah@gmail.com
S. K. Saha
Department of Mechanical Engineering,
Indian Institute of Technology Delhi
, New Delhi 110016, India
e-mail: saha@mech.iitd.ac.in
J. K. Dutt
Department of Mechanical Engineering,
Indian Institute of Technology Delhi
, New Delhi 110016, India
e-mail: jkdutt@mech.iitd.ac.in
J. Comput. Nonlinear Dynam. Apr 2012, 7(2): 021006 (10 pages)
Published Online: January 6, 2012
Article history
Received:
May 23, 2011
Revised:
November 18, 2011
Accepted:
November 18, 2011
Online:
January 6, 2012
Published:
January 6, 2012
Citation
Shah, S. V., Saha, S. K., and Dutt, J. K. (January 6, 2012). "Denavit-Hartenberg Parameterization of Euler Angles." ASME. J. Comput. Nonlinear Dynam. April 2012; 7(2): 021006. https://doi.org/10.1115/1.4005467
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