# Tag Info

Accepted

### Denavit-Hartenberg parameters for SCARA manipulator

You are right he made a mistake there. This is probably one of many typos in this preprint of Mark Spong. You should rather turn to other good books, such as the mathematically more elegant book of ...
• 366

### Denavit-Hartenberg convention

Craig uses the modified DH parameters, while Spong uses the classic DH parameters. The difference between them are the locations of the coordinates system attachment to the links: in the modified DH,...
• 215
Accepted

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

I have been doing a lot of reading up on kinematic calibration and here is what I found: From [1]: A kinematic model should meet three basic requirements for kinematic-parameter identification: ...
Accepted

• 366
Accepted

### Modified DH Parameters?

Khalil himself says that it is a form of the modified D-H parameters. See, e.g., Section 2.1 of the 2000 Springer-Verlag book Advances in Robot Kinematics.
• 4,326

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

Here are the step that are in my course for using D-H convention: Step 1 Define the z axis of every joint Step 2 Define the origin frame R0 (O0, x0, y0, z0) Step 3 For i in [1, n] (n=number of ...
• 166
Accepted

### Which is best way to calculate inverse kinematics for scara robot?

The geometric method of computing inverse kinematics (which you are calling the trigonometric way) and the Denavit-Hartenburg method result in the same kinematic equations. Neither is better, ...
• 4,326

### Which is best way to calculate inverse kinematics for scara robot?

The solution of the inverse kinematics problem and the Denavit Hartenberg method (or algorithm) are two very different things. The DH provides rules on how to define coordinate systems, but it does ...
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