Talk:Denavit–Hartenberg parameters

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I have upload an image to show the DH parameters

See this image below: Is it possible to add to the main page? Ollydbg (talk) 03:29, 17 May 2010 (UTC)[reply]

Hi, since I see that there are two kind of DH parameters convention, so I create another one, see

, in-fact, the French version of this wiki has those two convention explained, so I think it should be useful to put those two images in the main wiki page. Ollydbg (talk) 15:03, 21 March 2014 (UTC)[reply]

File:Denavit-Hartenberg Tutorial Video.ogv Nominated for Deletion

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Error in page

The statement "An important property of Denavit and Hartenberg matrices is $M_{ij}^{-1}=M_{ji}$ is wrong, if I understand correctly.

The inverse of $M=\left[{\begin{array}{c|c}R&t\\\hline 0&1\end{array}}\right]$ should be $M^{-1}=\left[{\begin{array}{c|c}R^{T}&-R^{T}t\\\hline 0&1\end{array}}\right]$ , where $R$ is an orthogonal matrix and $t$ is a vector.

The transpose $M^{T}$ would not have $t$ in the proper location.

Chris2crawford (talk) 18:57, 20 September 2011 (UTC)[reply]

No comments ... I went ahead and corrected it.

Chris2crawford (talk) 13:13, 2 December 2011 (UTC)[reply]

Revisions to this article

I would propose revising this article to shorten the lead and define the various conventions associated with Denavit-Hartenberg parameters. Prof McCarthy (talk) 19:02, 12 January 2012 (UTC)[reply]

I increased the importance of this article because this is the primary mathematical tool used to monitor and control the configuration of a robot. Prof McCarthy (talk) 06:52, 13 January 2012 (UTC)[reply]

Probably an error in inertia component formula

There is this formula in Dynamics section: $I_{xx}=\int \int x^{2}\,dm$

I have a feeling it should be $I_{xx}=\int \int (y^{2}+z^{2})\,dm$ . At least that is what it is for a normal inertia tensor, right? --Sindar (Синдар) (talk) 23:48, 27 March 2014 (UTC)[reply]

Material copied to wikiversity

I am working on a robotics course on wikiversity, and I am copying content to the following: https://en.wikiversity.org/wiki/Robotic_Mechanics_and_Modeling/Kinematics Thank you. Admazzeo (talk) 05:04, 13 February 2020 (UTC)[reply]

Material copied to this page as well: https://en.wikiversity.org/wiki/Robotic_Mechanics_and_Modeling/Dynamics

Admazzeo (talk) 13:36, 5 March 2020 (UTC)[reply]