Difference between revisions of "Assigning coordinate frames"
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{{Navigation|before=[[Denavit-Hartenberg Convention]]|overview=[[Denavit-Hartenberg Convention]]|next=[[Denavit-Hartenberg parameters]]}} | {{Navigation|before=[[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. | + | 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. |
| − | + | ===Notation=== | |
| + | The notation of the links and joints is shown in the figure below. A manipulator consists of <math>n</math> links that are connected with <math>n</math> joints. The links correspond to the rigid parts of an arm and the joints are the flexible connections between them. A joint is always assigned to the proximate link. So a link <math>L_i</math> is connected with its joint | ||
| + | The first link is mounted on the base via joint 1 | ||
[[File:links.png|left|850px]] | [[File:links.png|left|850px]] | ||
Revision as of 16:03, 30 October 2015
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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.
Notation
The notation of the links and joints is shown in the figure below. A manipulator consists of 
links that are connected with joints. The links correspond to the rigid parts of an arm and the joints are the flexible connections between them. A joint is always assigned to the proximate link. So a link 
is connected with its joint
The first link is mounted on the base via joint 1
