Difference between revisions of "A-matrices"
From Robotics
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[[File:dh-params-steps.png|center|950px]] | [[File:dh-params-steps.png|center|950px]] | ||
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| + | 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]]. | ||
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| + | [[File:amatrices.png|right|450px]] | ||
[[Category:Article]] | [[Category:Article]] | ||
[[Category:Denavit-Hartenberg]] | [[Category:Denavit-Hartenberg]] | ||
Revision as of 11:41, 17 November 2015
| ← 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.
