A-matrices
From Robotics
← Back: Denavit-Hartenberg parameters | Overview: Denavit-Hartenberg Convention | Next: Typical link examples → |
In the previous articles, it was described how the transformation between consecutive links of a manipulator can be described using local coordinate frames and the 4 Denavit-Hartenberg parameters. The parameters describe 2 translational and 2 rotational degrees of freedom, which correspond to 4 transformations, that are applied successively to transform coordinate frame with respect to frame like shown below.
Based on this, the A-matrices are used to describe the precise transformation of a link with respect to the previous link resulting of the 4 successive transformations described by the Denavit-Hartenberg parameters.