OPENTECHNICAL PUBLICATION
OT-2026-000002451

Apparatus and method for converting parameter of multiple-joint robot

Published: 2026-09-15T19:13:10.182769Z
Permanent URL: https://opentechnical.org/p/OT-2026-000002451
Categories: Robotics & Automation > Robot Architectures

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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.

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OpenTechnical publication OT-2026-000002451
Published 2026-09-15T19:13:10.182769Z
https://opentechnical.org/p/OT-2026-000002451