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|right| | + | [[File:dh-params-general.png|right|250px]] |
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: | ||
Revision as of 17:53, 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:
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