(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
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Rotations in a 3-D Euclidean space
Choosing a coordinate sytem
Denavit–Hartenberg parameters
h*mogeneous transformation matrix
Denavit–Hartenberg parameter table