Table of D-H Parameters for a 6-DOF Pipeline Installation Robotic Arm

A 5.5 KB Excel file containing Denavit-Hartenberg (D-H) parameters for a 6-degree-of-freedom Cartesian coordinate robotic arm used in mine pipeline installation. The dataset supports a study proposing an improved trajectory planning algorithm (AS-DTRRT) to reduce runtime by up to 20.22% and path length by up to 21.17% compared to other methods. Author Zhixiang Liu uploaded it to figshare under a CC-BY-4.0 license, with a last update timestamp of 2026-05-22.

Use Cases

• Simulating robotic arm kinematics based on the provided D-H parameters.
• Benchmarking trajectory planning algorithms against the performance metrics described in the study.
• Analyzing the influence of pipeline geometry and length on robotic arm workspace as mentioned in the description.
• Implementing collision avoidance strategies for pipeline installation in complex environments.

Strengths

• Specific performance improvements are quantified, with runtime reductions of 20.22%, 15.48%, 4.69%, and 16.47% against four benchmark algorithms.
• The dataset is associated with a clearly described methodological study on an improved dual-tree RRT algorithm (AS-DTRRT).
• It is shared under a permissive CC-BY-4.0 license, allowing for reuse and modification.

Limitations

• Row count is unknown, which may limit suitability assessment.
• Column-level documentation is absent; field semantics must be inferred after download.
• The dataset is very small (5.5 KB), indicating limited scope.

Provenance

Source

figshare, author Zhixiang Liu.

Collection Method

Likely generated from the kinematic modeling of a specific robotic arm for a research study.

Time Range

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Freshness

Last updated 2026-05-22 17:37:29; freshness should be verified.

Geography

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