When one wants to model a kinematic chain and in particular define the frames attached to each body, it is common to use the Denavit-Hartenberg parameters.
What are the advantages of this representation?
I can understand the interest of having a normalized representation but does it impact the algorithms performance? The algorithm is not trivial to implement, what gain can we expect from this instead of, for instance, just fixing reference frames by hands (i.e. arbitrarily) like this is done in many robotics formats such as URDF.