Conversion Between Denavit-Hartenberg and Hayati Conventions for Calibration and Forward Kinematics of Manipulators

Although it is singular for parallel joint axes, forward kinematics of manipulators with serial kinematic structures are mostly described with Denavit-Hartenberg parameters. For this reason, Hayati et al. proposed a similarly minimal parameter set, which is well usable for parallel axes but cannot be used for perpendicular ones. This paper presents the analytical conversion rules between these conventions, providing an opportunity for mixed models that are usable for kinematic calibration or forward kinematics. After deriving the conversion, the paper illustrates their benefits on a manipulator calibration problem.