Difference between revisions of "Denavit-Hartenberg parameters"
From Robotics
| Line 5: | Line 5: | ||
;<math>\theta</math> | ;<math>\theta</math> | ||
| − | :text | + | :text fgf |
;<math>d</math> | ;<math>d</math> | ||
| − | :text | + | :text fg d |
;<math>l</math> | ;<math>l</math> | ||
| − | :text | + | :text gdg |
;<math>\alpha</math> | ;<math>\alpha</math> | ||
| − | :text | + | :text ggd gdg |
[[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:
- text fgf
- text fg d
- text gdg
- text ggd gdg
