Difference between revisions of "Denavit-Hartenberg parameters"
From Robotics
| Line 2: | Line 2: | ||
[[File:dh-params-general.png|left|220px]] | [[File:dh-params-general.png|left|220px]] | ||
| + | When the [[Assigning coordinate frames|coordinate frames]] are assigned to a manipulator, the transformations between the consecutive links have to be described. Therefor the 4 Denavit-Hartenberg parameters are used, which are defined as follows: | ||
| + | |||
| + | ;<math>\theta</math> | ||
| + | : | ||
| + | ;<math>d</math> | ||
| + | : | ||
| + | ;<math>l</math> | ||
| + | : | ||
| + | ;<math>\alpha</math> | ||
| + | : | ||
[[File:dh-params-steps.png|center|850px]] | [[File:dh-params-steps.png|center|850px]] | ||
Revision as of 17:51, 12 November 2015
| ← Back: Assigning coordinate frames | Overview: Denavit-Hartenberg Convention | Next: A-matrices → |
When the coordinate frames are assigned to a manipulator, the transformations between the consecutive links have to be described. Therefor the 4 Denavit-Hartenberg parameters are used, which are defined as follows:
