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	Generazione del percorso utensile CNC	Parametri Denavit-Hartenberg
Campo	Produzione industriale	Produzione industriale
Famiglia	Process / pipeline	Process / pipeline
Anno di origine	1990s	1955
Ideatore	Elbestawi, M. A. et al.	Denavit, J. and Hartenberg, R. S.
Tipo	Computational method for manufacturing automation	Mathematical convention for describing articulated mechanisms
Fonte seminale	Elbestawi, M. A., Papazafiriou, T., & Du, R. (1994). In-process detection of tool wear in milling using cutting force signature. International Journal of Machine Tools and Manufacture, 34(4), 555-566.	Denavit, J., & Hartenberg, R. S. (1955). A kinematic notation for lower-pair mechanisms based on matrices. Journal of Applied Mechanics, 22(2), 215-221.
Alias	NC tool path planning, Toolpath programming	DH parameters, DH convention, Robot kinematics convention
Correlati	5	4
Sintesi	CNC tool path generation is the computational process of determining the precise sequence and trajectory of tool movements required to machine a workpiece on computer numerical control (CNC) machines. Developed from the intersection of numerical control automation and computational geometry in the 1990s, this method translates CAD designs into executable machine instructions, enabling efficient and accurate manufacturing of complex parts.	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.