This tutorial presents one interesting example of how to deal with specifically oriented joints. In this case, it is necessary to extend a little bit previous definition of DH parameters.
Let’s consider the manipulator which is presented in Fig. 1 below:Read more
Denavit-Hartenberg convention is a technique which allows deriving parameters and variables of a kinematic chain of a manipulator. These parameters and variables can be after that used to get kinematic and dynamic models of a manipulator. Using the D-H convention can simplify the whole process. The notation will be explained on a sample manipulator which is illustrated in Fig. 1.
Fig. 1. Manipulator consists of 1 revolute joint oriented perpendicular to a floor and 2 revolute joints parallel to the floor.Read more