## 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.*