DH Parameters Simulation

Overview

Denavit-Hartenberg (DH) parameters are a systematic method for defining the reference frames of robotic manipulators. This project demonstrates DH parameters for a 3-Degree of Freedom (DOF) robot arm.

What are DH Parameters?

DH parameters describe the orientation and position of each joint in a robotic manipulator using four parameters:

• Link length
• Link twist
• Link offset
• Joint angle

These parameters are crucial for:

• Simplifying forward kinematics calculations
• Enabling inverse kinematics solutions
• Standardizing frame transformations

Visualization Demo in RViz

This demo provides a visual representation of the DH parameters using RViz, ROS 2’s 3D visualization tool.

Prerequisites

• ROS 2 installed and configured
• Working ROS 2 workspace (ros2_ws)
• MARIO repository cloned

Installation Steps

1. Copy the simulation files to your ROS 2 workspace if not already present:

   cp -r ~/MARIO/2_simulation_dh ~/ros2_ws/src
   

1. Navigate to your ROS 2 workspace:

   cd ~/ros2_ws
   

1. Build the packages:

   colcon build
   

1. Source the workspace:

   source install/setup.bash
   

Running the Simulation

Launch the visualization:

ros2 launch simulation_dh dh_transformation_visualization.launch.py

Demo

Notes

• Make sure all dependencies are properly installed
• Ensure your ROS 2 environment is correctly sourced
• The visualization helps in understanding the spatial relationships between different joints of the robot