Introduction to Robotics
Don't do this
3 DH parameter mistakes that cost marks
3 mistakes that cost marks in Denavit-Hartenberg tables
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Lesson notes
Key points
- Z axis on the wrong line: Students point z along the link; the fix: z_i always lies along the joint axis of motion.
- Mixing up d and a: d is the offset along z, a is the link length along x; swapping them breaks every matrix.
- Forgetting the joint…: For a revolute joint theta varies, for a prismatic joint d varies; mark it or lose the marks.
Takeaway: z on the joint axis, d along z, a along x, mark the variable.
Quick check: In standard DH convention, the z_i axis is placed along what?
- The link's length
- The joint's axis of motion
- The world vertical
Each z axis lies along a joint axis; placing it along the link is a classic error.
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