Difference between revisions of "Denavit-Hartenberg parameters"
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[[File:dh-params-general.png|right|250px]] | [[File:dh-params-general.png|right|250px]] | ||
| − | When the [[Assigning coordinate frames|coordinate frames]] are assigned to a manipulator, the | + | When the [[Assigning coordinate frames|coordinate frames]] are assigned to a manipulator, the transformation between each two consecutive frames <math>K_{n-1}</math> and <math>K_n</math> have to be described. Therefor the 4 Denavit-Hartenberg parameters are used, which are defined as follows: |
;<math>\theta</math> | ;<math>\theta</math> | ||
Revision as of 17:56, 12 November 2015
| ← Back: Assigning coordinate frames | Overview: Denavit-Hartenberg Convention | Next: A-matrices → |
When the coordinate frames are assigned to a manipulator, the transformation between each two consecutive frames 
and 
have to be described. Therefor the 4 Denavit-Hartenberg parameters are used, which are defined as follows:
- text
- text
- text
- text
