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'''[[Denavit-Hartenberg Convention]]'''<br> | '''[[Denavit-Hartenberg Convention]]'''<br> | ||
− | + | The Denavit-Hartenberg convention covers methods to [[Assigning coordinate frames|assign coordinate frames]] to the links of serial link manipulators and to describe the spatial relationship between them by the four [[Denavit-Hartenberg parameters]]. Based on the parameters, local transformations, the so called [[A-matrices]], can be determined. Combining these methods, the transformation of the end-effector with respect to the manipulators base frame can easily be determined and used for further computations. [[Typical link examples|Typical examples]] for links are presented to illustrate the the usage of the convention. | |
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Revision as of 15:53, 29 October 2015
Vector algebra |
Matrices |
Matrix inversion |
Transformations |
Three-Angle Representations |
Quaternions |
Denavit-Hartenberg Convention |