Denavit

Denavit, also known as Denavit-Hartenberg, is a method used in robotics and kinematics to describe the position and orientation of a robot's joints in a systematic and standardized way. The method was developed by Jacques Denavit and Richard Hartenberg in the 1950s. It is widely used in the field of robotics for modeling the kinematics of robotic manipulators, which are mechanical arms used for various tasks such as manufacturing, assembly, and material handling.

The Denavit-Hartenberg notation, or DH notation, defines a set of parameters that describe the relative position and orientation of consecutive joints in a robotic arm. These parameters include the link length, the link twist, the link offset, and the joint angle. By using these parameters, engineers can create a mathematical model of the robot's kinematics, which can then be used to plan and control the robot's movements.

The DH notation is particularly useful for robots with revolute joints, where the joint angle can be varied to change the position and orientation of the robot's end effector. The notation can also be extended to robots with prismatic joints, where the joint displacement can be varied to change the position and orientation of the end effector.

In addition to its use in robotics, the Denavit-Hartenberg notation is also used in other fields such as computer graphics, computer-aided design, and biomechanics. The notation provides a standardized way to describe the position and orientation of joints in a system, which can be useful for a wide range of applications.