DenavitHartenbergparametreissa

Denavit-Hartenberg parameters provide a standardized method for describing the relationship between consecutive rigid bodies in a kinematic chain, such as a robot arm. This system is fundamental in robotics and computer graphics for representing the position and orientation of links. There are four parameters associated with each link: the link length, the link twist, the link offset, and the joint angle.

The link length is the distance along the common normal between the axes of two consecutive joints. The link twist is the angle between the axes of two consecutive joints, measured along the common normal. The link offset is the distance along the axis of a joint to the common normal. Finally, the joint angle is the angle between the common normal of the current link and the common normal of the previous link, measured around the axis of the current joint.

By systematically defining these four parameters for each link in a kinematic chain, one can construct a transformation matrix that relates the coordinate frame of one link to the coordinate frame of the next. This allows for the calculation of the position and orientation of the end-effector of a robot arm or any other point of interest within the chain. The Denavit-Hartenberg convention simplifies the process of forward kinematics and is widely adopted in robotics research and industry.