Difference between revisions of "Denavit-Hartenberg parameters"
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{{Navigation|before=[[Assigning coordinate frames]]|overview=[[Denavit-Hartenberg Convention]]|next=[[A-matrices]]}} | {{Navigation|before=[[Assigning coordinate frames]]|overview=[[Denavit-Hartenberg Convention]]|next=[[A-matrices]]}} | ||
| − | [[File:dh-params-general.png| | + | [[File:dh-params-general.png|right|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: | 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>\theta</math> | ||
:text fgf | :text fgf | ||
| + | |||
;<math>d</math> | ;<math>d</math> | ||
:text fg d | :text fg d | ||
| + | |||
;<math>l</math> | ;<math>l</math> | ||
:text gdg | :text gdg | ||
| + | |||
;<math>\alpha</math> | ;<math>\alpha</math> | ||
| − | :text ggd | + | :text ggd gd |
[[File:dh-params-steps.png|center|850px]] | [[File:dh-params-steps.png|center|850px]] | ||
Revision as of 17:52, 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 gd
