ME-535 Robotics: Mechanics and Control 16 Oct 2020: The D-H convention and [T]
50:06
YouTubeDr Anand Vaz
ME-535 Robotics: Mechanics and Control 16 Oct 2020: The D-H convention and [T]
This lecture reviews the Denavit - Hartenberg convention for fixing frames on links. The homogeneous transformation matrix [T] relating the (i)th frame to the (i-1)th frame is derived. The necessary background for the application of the D-H convention to the example of the PUMA manipulator arm is laid out for discussion in the next lecture.
607 viewsNov 7, 2020
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