how_to_assign_reference_frames_on_the_hdt_arm_with_denavit-hartenberg_notation

# how_to_assign_reference_frames_on_the_hdt_arm_with_denavit-hartenberg_notation

**Author:** Zahir Castrejon Email: castrz1@unlv.Nevada.edu Daehyeon Choi Email: choidaehyeon@gmail.com

**Date:** Last modified on 11/19/2021

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

how_to_assign_reference_frames_on_the_hdt_arm_with_denavit-hartenberg_notation.txt · Last modified: 2022/02/27 19:51 by zcastr