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| Paramètres de Denavit-Hartenberg× | Cinématique Inverse× | |
|---|---|---|
| Domaine | Fabrication | Fabrication |
| Famille | Process / pipeline | Process / pipeline |
| Année d'origine≠ | 1955 | 1968 |
| Auteur d'origine≠ | Denavit, J. and Hartenberg, R. S. | Pieper, D. L. et al. |
| Type≠ | Mathematical convention for describing articulated mechanisms | Problem-solving method for robot control |
| Source fondatrice≠ | Denavit, J., & Hartenberg, R. S. (1955). A kinematic notation for lower-pair mechanisms based on matrices. Journal of Applied Mechanics, 22(2), 215-221. link ↗ | Craig, J. J. (2005). Introduction to Robotics: Mechanics and Control (3rd ed.). Pearson Education. ISBN: 0-13-123629-6 |
| Alias | DH parameters, DH convention, Robot kinematics convention | IK problem, Joint angle calculation, Pose-to-angles |
| Apparentées | 4 | 4 |
| Résumé≠ | The Denavit-Hartenberg (DH) convention is a systematic mathematical method for assigning coordinate frames to the links of an articulated robot or mechanism, enabling compact representation and computation of forward and inverse kinematics. Introduced by Denavit and Hartenberg in 1955, this method uses only four parameters per joint to describe the spatial relationship between adjacent links, dramatically simplifying kinematic analysis and control of complex multi-jointed systems. | Inverse kinematics is the computational problem of determining the joint angles required to position and orient the end-effector (tool) of an articulated mechanism at a desired pose (position and orientation). In contrast to forward kinematics, which computes end-effector position from joint angles, inverse kinematics solves the reverse mapping. This is essential for robot control: given a desired target location, IK finds the joint commands that achieve it. |
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