Tag: denavit-hartenberg notation

Denavit-Hartenberg convention – tutorial 1

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.

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