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Denavit-Hartenberg Parameters
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Summary
Denavit-Hartenberg Parameters
provide a
Standardized way to represent the geometry of robotic manipulators
, simplifying the
Kinematic analysis of complex robotic systems
. By defining
Four parameters for each joint
, they allow for a
Systematic description of the position and orientation of each link in a robot arm
, facilitating the computation of forward and inverse kinematics.
Concepts
Kinematics
Link Frame
Joint Frame
Transformation Matrix
Homogeneous Transformation
Forward Kinematics
Inverse Kinematics
Joint Parameters
Link Parameters
Robot Manipulator
Relevant Degrees
Electrical Engineering 100%
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