No, D doesn't = R and L doesn't = S. They "can", but that's just a coincidence. Technically, all of the absolute configurations on D and L glucose are opposite because D and L glucose are enantiomers.
Without determining any absolute configurations, you can put glucose in a fischer projection with its most oxidized carbon at the top and determine if its D or L glucose, just based off of the position (left, L, or right, D) of the nearest hydroxyl group.
R/S, D/L, +/- describe different things.
R/S describes how a chiral center is organized with regards to the priority of the constituents (which is based off of atomic #).
D/L describe the left or right position of the constituent attached to the carbon immediately below the most oxidized carbon at the top of a fischer projection.
+/- describe which way plane polarized light is rotated.
Maybe this wiki link I found will help:
http://en.wikipedia.org/wiki/Optical_isomerism#By_optical_activity:_.28.2B.29-_and_.28.E2.88.92.29-