Question

In serial manipulator kinematics, what are the four distinct parameters used in the Denavit-Hartenberg convention to define the transformation between two coordinate frames?

Accepted Answer

The Denavit-Hartenberg convention defines the transformation between two coordinate frames, frame i-1 and frame i, using four parameters: link length, link twist, link offset, and joint angle. Link length, denoted by a, is the distance between the z-axis of frame i-1 and the z-axis of frame i, measured along the x-axis of frame i. Link twist, denoted by alpha, is the angle between the z-axis of frame i-1 and the z-axis of frame i, measured about the x-axis of frame i. Link offset, denoted by d, is the distance from the origin of frame i-1 to the x-axis of frame i, measured along the z-axis of frame i-1. Joint angle, denoted by theta, is the angle between the x-axis of frame i-1 and the x-axis of frame i, measured about the z-axis of frame i-1. In a serial manipulator, these four parameters establish the geometry of each link and the movement of each joint, allowing for the construction of a transformation matrix that describes the position and orientation of one frame relative to the previous one.

Home → All Courses → Engineering and Technology Courses → Robotics and Autonomous Systems → Flashcard

In serial manipulator kinematics, what are the four distinct parameters used in the Denavit-Hartenberg convention to define the transformation between two coordinate frames?