DenavitHartenbergModell

Denavit-Hartenberg (DH) parameters are a set of conventions used to describe the kinematic relationships between successive links in a robotic manipulator. Introduced by Jacques Denavit and Richard Hartenberg in 1955, these parameters provide a systematic way to represent the geometry of a robot's joints and links, which is crucial for tasks such as kinematic analysis, motion planning, and control.

The DH parameters consist of four values for each joint in the robot: theta (θ), d, a, and alpha (α). These parameters define the relative position and orientation of two consecutive links. Theta represents the joint angle, d is the joint offset, a is the link length, and alpha is the link twist. By specifying these parameters for each joint, the entire kinematic structure of the robot can be described.

The DH parameters are particularly useful in the context of serial manipulators, which are robots with a series of links connected by joints. For each joint, the DH parameters are used to construct a transformation matrix that describes the joint's motion. These matrices can then be multiplied together to obtain the overall transformation from the base of the robot to its end-effector.

The DH convention is widely adopted in robotics due to its simplicity and effectiveness in representing the kinematic structure of robots. It provides a standardized framework for describing robot geometry, which facilitates communication and collaboration among researchers and engineers in the field. Additionally, the DH parameters can be easily adapted to different types of robots, making them a versatile tool for kinematic analysis and control.