I contributed to add the Denavit Hartenberg model support to the Accord.Net library and I’m happy today because my contribution has been released !
In my project, I needed to manage the Kinematics of the robot arm, so I tryed it the hard way first (sinus multiplying cosinus all the way round with angles everywhere). Though, I managed to obtain something quite functional. Some time later I found an article talking about the Denavit Hartenberg (DH) transform which made me realize I spent a lot of hard time to calculate my Kinematics… The DH makes it much more easily !! It also offers a good frame for making it more generic to apply it to any robot configuration.
So I then decided to go for it and code it in C# to add it to my toolbox. I built it generic and flexible to allow easy manipulation of complex models and even push it further to allow animation and on-the-fly modification of the model with model combinations. As I’m more comfy when it’s visual, I also developped a visualization module to display what the model looks like and how it’s moving. Then I decided to share it with the Accord.Net community.
Now, enough words, as a drawing is always better than thousands of hours of explanations, give a look below !
Some links :
- Denavit Hartenberg : http://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters
- Accord.Net library : http://accord-net.github.io/
- Denavit Hartenberg model management with Accord.Net documentation : http://accord-net.github.io/docs/?topic=html/N_Accord_Math_Kinematics.htm
- Cesar Souza’s Blog (very instructive !) : http://crsouza.blogspot.fr/
Finally I would like to thank Cesar Souza and all the people involved in Accord.Net and AForge.Net for providing us with such great libraries ! Thank you so much !