---
publication_id: "OT-2026-000002451"
title: "Apparatus and method for converting parameter of multiple-joint robot"
published_at: "2026-09-15T19:13:10.182769Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002451"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1653"
  - "b25j9/1653"
  - "b25j9/1653"
  - "b25j9/16"
---

# Apparatus and method for converting parameter of multiple-joint robot

## Abstract

The present disclosure relates to an apparatus and method for converting a parameter of a multi-joint robot. The apparatus for converting a parameter of a multi-joint robot according to the present disclosure includes a parameter derivation unit configured to drive a unified robot description format (URDF) of an individual joint constituting the multi-joint robot, a coordinate calculation unit configured to calculate a coordinate system of the individual joint, and calculate a joint axis vector of the individual joint and a joint axis vector of a subsequent joint connected to the individual joint based on the coordinate system of the individual joint, and a parameter conversion unit configured to convert the URDF of the individual joint into a Denavit-Hartenberg (DH) parameter based on the joint axis vector of the individual joint and the joint axis vector of the subsequent joint.