Denavit-Hartenberg Reference Frame Layout
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Denavit-Hartenberg Reference Frame Layout. This video demonstrates use of the Denavit-Hartenberg convention for defining the reference frames of a kinematic chain.

In short, the z-axis for each joint is placed along its axis of motion, and then the x-axes are placed along the common normals between these z-axes. Then four parameters are used to specify the transformation between each of these frames:
• d - the "depth" along the previous joint’s z axis
• θ (theta) - the rotation about the previous z (the angle between the common normal and the previous x axis)
• r - the radius of the new origin about the previous z (the length of the common normal)
• α (alpha) - the rotation about the new x axis (the common normal) to...

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