9.4.3 - Denavit–Hartenberg (DH) Parameters
Enroll to start learning
You’ve not yet enrolled in this course. Please enroll for free to listen to audio lessons, classroom podcasts and take practice test.
Practice Questions
Test your understanding with targeted questions
What does 'θ' represent in DH parameters?
💡 Hint: Think about rotations around joints.
Name one of the four DH parameters.
💡 Hint: Recall the mnemonic 'Tidal Dances Always'.
4 more questions available
Interactive Quizzes
Quick quizzes to reinforce your learning
What do the Denavit-Hartenberg parameters allow roboticists to do?
💡 Hint: Think about how parameters relate links and joints.
True or False: The parameter 'd' is the joint angle.
💡 Hint: Remember the roles of each parameter.
Get performance evaluation
Challenge Problems
Push your limits with advanced challenges
Given a robotic arm with the following DH parameters: θ = 30°, d = 5, a = 10, α = 90°, derive the transformation matrix.
💡 Hint: Start by substituting each parameter into the transformation matrix equation format.
If one of the DH parameters is incorrectly set, how would this affect the movement of the robotic arm?
💡 Hint: Consider how each parameter contributes to positioning.
Get performance evaluation
Reference links
Supplementary resources to enhance your learning experience.