# Questions tagged [dh-parameters]

Denavit–Hartenberg parameters are the parameters associated with a particular convention for attaching reference frames to the links of spatial kinematic chains, or robot manipulators.

74 questions
Filter by
Sorted by
Tagged with
1k views

### DH parameters for PRP manipulator

Can anyone share their DH parameters for a simple PRP manipulator. I have some confusion in setting up the axes and obtaining a solution.
2k views

### Assigning parameters in perpendicular axes: D-H is a must

So I was given a course assignment to assign frames and write D-H parameters for this robot using only 5+1 frames (with Frame $\{5\}$ at $P$ and Frame $\{0\}$ at $O$). And I assigned them like this: ...
165 views

### Do DH parameters change for a scaled robot 3d model?

I have the actual DH parameters of a robot: d1 = 0.4865 m d2 = 0.600 m d3 = 0.065 m a1 = 0.150 m a2 = 0.475 m all other di's and ai's are zero. Can I use these ...
1k views

### Find orientation through Transformation matrix

I have a robot with 3 rotational joints that I am trying to simulate in a program I am creating. So I have 4 frames, one base frame, and each joint has a frame. I have 3 transformation functions to go ...
378 views

### Modified DH Parameters?

Is the notation of the geometry of robots from Khalil and Kleinfinger be considered as one of the probably "many" Modified DH Parameters?
2k views

### DH parameters and Kinematic Decoupling

Is it possible to decouple a 5DOF manipulator? This question I asked earlier and I believe I got the right answers but I never show the drawings of the manipulator and now I'm hesitating during setup ...
8k views

### Getting pitch, yaw and roll from Rotation Matrix in DH Parameter

I've calculated a DH Parameter matrix, and I know the top 3x3 matrix is the Rotation matrix. The DH Parameter matrix I'm using is as below, from https://en.wikipedia.org/wiki/Denavit%E2%80 Above is ...
964 views

### Denavit Hartenberg parameters

Can anybody help figure out HD parameters for the case where two links with a revolute joint are in the same plane, thus that the variable angle is 0, but the twist is not 0. This is a simple drawing. ...
851 views

### Solving for DH Parameters

Given three sets of joint angles in which the end effector is in the same position, is it possible to find the DH parameters? If the robot has 2 DOF in shoulder, 2 DOF in elbow, and 1 dof in wrist, ...
2k views

### How to convert between classic and modified DH parameters?

I currently have a description of my 22 joint robot in "classic" DH parameters. However, I would like the "modified" parameters. Is this conversion as simple as shifting the $a$ and $alpha$ columns ...
2k views

### How to determine x-axis if the two z-axis are intersecting in Denavit Hartenberg representation

Suppose I have a 3 link(1 dimensional) chain in which all the joints are revolutes, the axis of first revolute joint is along Z-axis(global) and axis of second joint is along X-axis(global). The first ...
3k views

### Why do we generally prefer DH parameters over other kinematic representations of robot arms?

I am specifically interested in DH parameters versus other representations in terms of kinematic calibration. The best (clearest) source of information I could find on kinematic calibration is in the ...
636 views

### DH-Parameters for Forward Kinematics for Translatory Motion only

I am fairly new to the DH-transformation and I have difficulties to understand how it works. Why are not all coordinates (X+Y+Z) incorporated into the parameters? It seems to me that at least one ...
10k views

### Homogenous Transformation Matrix for DH parameters

I'm studying Introduction to robotic and found there is different equations to determine the position and orientation for the end effector of a robot using DH parameters transformation matrix, they ...
713 views

### DH Forward Kinematics for a Cartesian Robot (CNC Mill)

I am implementing a Denavit-Hartenberg forward transform for a 3-axes CNC mill. I know that the kinematic for such a machine is trivial and doesn't need DH, but I need to make appliable for other ...
936 views

### joint positions of a robot

I would likte to find the joints positions using joint angles, link lengths etc. How can I define the position of the each joint using DH parameters?
408 views

...
785 views

### Denavit-Hartenberg convention or the product of exponentials formulation, when dealing with the manipulator kinematics?

Though, Denavit-Hartenberg notation is commonly used to describe the kinematics of robot manipulator, some researcher prefer the product of exponential instead; and even the claim that it's better. ...
3k views

### DH Matrix to homogeneous transformation matrix for each joint

Given a DH matrix for a set of joints, how would you convert the data into homogeneous transformation matrices for each joint? I've looked online, but can't find a good tutorial.
489 views

### Parameter $r$ of Denavit-Hartenberg

By watching this video which explains how to calculate the classic DenavitāHartenberg parameters of a kinematic chain, I was left with the impression that the parameter $r_i$ (or $a_i$) will always be ...
5k views

### Forward Kinematics/D-H parameters for perpendicular joint axes

I am trying to compute forward kinematics of the Kuka youBot using DH convention: http://www.youbot-store.com/youbot-developers/software/simulation/kuka-youbot-kinematics-dynamics-and-3d-model The ...
11k views

### Denavit-Hartenberg parameters for SCARA manipulator

I'm going through the textbook Robot Modeling and Control, learning about the DH convention and working through some examples. I have an issue with the following example. Given below is an image of ...