Difference between revisions of "Assigning coordinate frames"
From Robotics
| Line 3: | Line 3: | ||
To be able to determine the spatial relationship or transformation, respectively, between the links of a manipulator, local coordinate frames have to assigned to them first. | To be able to determine the spatial relationship or transformation, respectively, between the links of a manipulator, local coordinate frames have to assigned to them first. | ||
| − | There are several rules that have to be observed when assigning coordinate frames following the Denavit-Hartenberg convention. | + | There are several rules that have to be observed when assigning coordinate frames following the Denavit-Hartenberg convention. A manipulator consists of <math>n</math> links that are connected with <math>n</math> joints. The first link is mounted on the base via |
[[File:links.png|left|850px]] | [[File:links.png|left|850px]] | ||
Revision as of 15:50, 30 October 2015
| ← Back: Denavit-Hartenberg Convention | Overview: Denavit-Hartenberg Convention | Next: Denavit-Hartenberg parameters → |
To be able to determine the spatial relationship or transformation, respectively, between the links of a manipulator, local coordinate frames have to assigned to them first.
There are several rules that have to be observed when assigning coordinate frames following the Denavit-Hartenberg convention. A manipulator consists of 
links that are connected with joints. The first link is mounted on the base via
