Denavit–Hartenberg parameters

Convention for attaching reference frames to links of a kinematic chain / From Wikipedia, the free encyclopedia

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In mechanical engineering, the Denavit–Hartenberg parameters (also called DH parameters) are the four parameters associated with a particular convention for attaching reference frames to the links of a spatial kinematic chain, or robot manipulator.


Jacques Denavit and Richard Hartenberg introduced this convention in 1955 in order to standardize the coordinate frames for spatial linkages.[1][2]

Richard Paul demonstrated its value for the kinematic analysis of robotic systems in 1981.[3] While many conventions for attaching reference frames have been developed, the Denavit–Hartenberg convention remains a popular approach.