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====== 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> <!-- replace with your email address -->
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**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

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

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


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//Example://
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==== **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.
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**2.**	Measure lengths and θ offsets of each frame. Chart data for DH parameters
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**3.**	Translate Parameters to DH notation

{{:hdt_pic2.jpg|}}

{{:hdt_pic_4.jpg|}}