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 transformation between each two consecutive frames $K_{n-1}$ and $K_n$ have to be described. Therefor the 4 Denavit-Hartenberg parameters are used, which are defined as follows:

$\theta$

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$d$

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$l$

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$\alpha$

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