how_to_assign_reference_frames_on_the_hdt_arm_with_denavit-hartenberg_notation
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how_to_assign_reference_frames_on_the_hdt_arm_with_denavit-hartenberg_notation
Author: Zahir Castrejon Email: castrz1@unlv.edu
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: ====
**How to assign reference frames to HDT arm:**
how_to_assign_reference_frames_on_the_hdt_arm_with_denavit-hartenberg_notation.1637362615.txt.gz · Last modified: 2021/11/19 14:56 by zcastr