Engineering Genius - Denavit–Hartenberg Convention lyrics

(work in progress) The Denavit–Hartenberg (D–H) convention is commonly used for selecting frames of reference in various robotic applications. Broadly speaking, it allows us to describe the kinematics of a robot or a robotic arm in a relatively simple way. It is therefore often used for solving the forward kinematics and inverse kinematics problems. FAQ _________________________________ Rotations in a 3-D Euclidean space Choosing a coordinate sytem Denavit–Hartenberg parameters h*mogeneous transformation matrix Denavit–Hartenberg parameter table