A Model Conversion Algorithm from URDF to DH for Camera Robot

Abstract

The kinematic parameters of camera robot are described by Unified Robot Description Format (URDF). Compared to Denavit-Hartenberg (DH) method, URDF is more flexible. But DH method has an advantage in inverse solution control at position level. Sometimes only URDF file can be obtained due to the engineering project requirements, such as modularity and security. It is easy to convert DH to URDF. There is a lack of research for inverse conversion. In this paper, three conversion principles were proposed. The relationship of base coordinate system and joint coordinate system was divided into six situations. The DH transformation parameters were solved based on the three principles. Finally the extend conversion algorithm for serial joints chain was supplied. The robot kinematic conversion algorithm from URDF to DH provides a mathematical tool for requirements of engineering projects.