D-H Parameters
Also called Denavit-Hartenberg parameters
TLDR: D-H Parameters (Denavit-Hartenberg Parameters) are a standardized method for representing the geometry of robotic manipulators using a set of four parameters for each joint. Introduced in 1955 by Jacques Denavit and Richard S. Hartenberg, they simplify the mathematical modeling of robotics and automation systems.
D-H Parameters consist of four variables: link length, link twist, link offset, and joint angle. These parameters describe the relative position and orientation between consecutive links in a robotic arm. Using these parameters, the transformation matrix for each joint can be derived, forming the foundation for kinematics and motion control in robotic systems.
This method is widely used in forward kinematics to calculate the position and orientation of the end effector given the joint angles. By systematically defining the kinematic chain of a robot, the D-H Parameters reduce the complexity of the equations needed to model the system, making them essential for tasks like trajectory tracking and path planning.
In robotics, D-H Parameters are integral to designing and controlling systems such as manipulators, pick-and-place robots, and humanoid robots. For example, industrial robots rely on D-H Parameters to ensure precise movements during welding or assembly tasks. The parameters also play a critical role in simulations conducted in tools like Gazebo and MoveIt.
The standardized nature of D-H Parameters has made them a cornerstone of robotics education and research. They are commonly used to teach students and engineers how to model complex robotic systems and analyze their behavior under various conditions. The parameters have also been adapted for use in parallel kinematics and hybrid systems.
Despite their simplicity, D-H Parameters have limitations, such as difficulties in modeling systems with intersecting axes. However, alternative formulations have been developed to address these challenges. Nevertheless, the D-H Parameters remain one of the most widely used tools in robotics for representing and analyzing kinematic chains.
https://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters
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