方法证据记录
Denavit-Hartenberg Parameters
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.
源记录
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Denavit-Hartenberg Convention for Robot Kinematics
分类方法记录 · process-pipeline / manufacturing
- Denavit, J., & Hartenberg, R. S. (1955). A kinematic notation for lower-pair mechanisms based on matrices. Journal of Applied Mechanics, 22(2), 215-221. · URL
- Craig, J. J. (2005). Introduction to Robotics: Mechanics and Control (3rd ed.). Pearson Education. · ISBN 0-13-123629-6
- Spong, M. W., Hutchinson, S., & Vidyasagar, M. (2006). Robot Modeling and Control. John Wiley & Sons. · ISBN 0-471-64990-2
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