Denavit-Hartenberg parameters

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Overview: Denavit-Hartenberg Convention

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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:

$\theta$

text fgf

$d$

text fg d

$l$

text gdg

$\alpha$

text ggd gdg