**Definition:** The Denavit and Hartenberg notation gives a standard Methodology to write the kinematic equations of a manipulator. When there are a series of manipulators being operated, a matrix can be used to express the positions and orientation of a body in respects to another body. This Expression that is being described by The Homogeneous Transformation can be called an A matrix.

**How to derive an A matrix:** A sequential frame (n-1), where n is the notated by rotations and translations

//Figure 1: Denavit-Hartenberg parameters notated along bodies//

==== **How to Assign reference frames:**
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*Example:*

### **How to assign reference frames to HDT arm:**

**1.** Perform Steps 1-4 for the Standard frame followed by each sequential frame (body) designed for rotation.
**2.** Measure lengths and θ offsets of each frame. Chart data for DH parameters
**3.** Translate Parameters to DH notation