Denavit-Hartenberg convention for systematically describing robot manipulator kinematics using 4 parameters per joint. Overview Denavit-Hartenberg (DH) parameters provide a standardized way to describe the kinematic chain of a robot manipulator using only 4 parameters per joint. Purpose: Systematic representation of …

Practical examples of DH parameter configurations for common robot manipulators with complete Python implementations. 2-Link Planar Arm Simplest manipulator for learning DH parameters. Interactive 2-Link Arm DH Table Joint $\theta$ $d$ $a$ $\alpha$ 1 $\theta_1$ 0 $L_1$ 0 2 $\theta_2$ 0 $L_2$ 0 Implementation 1import …