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Overview: Denavit-Hartenberg Convention

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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 $K_n$ with respect to frame $K_{n-1}$ like shown below.