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.
Denavit–Hartenberg parameters (also called DH parameters) are the four parameters associated with a particular convention for attaching reference frames to the links of a spatial kinematic chain, or robot manipulator:
$\theta_{i}$, $d_{i}$, $a_{i}$, $\alpha_{i}$
Homogeneous transformations can then be represented as the product of a series of these four basic transformations.
