Denavit-Hartenberg Convention
From Robotics
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In the robotics field, one important aspect is the control of serial link manipulators or robotic arms, respectively. A serial link manipulator is a series of links connected with actuated joints, commonly with an end-effector attached to the last link. One of the most famous robotic arms is the Unimate Puma560, that is shown in the figure on the right.
In the following subarticles all important aspects of the Denavit-Hartenberg convention are treated in detail: