Denavit-Hartenberg Representation
The Denavit Hartenberg convention is based on the following procedure:
From which the table of link parameters is derived:
In Denavit-Hartenberg representation of the forward kinematics, the position and orientation of the end-effector for a single joint manipulator are given by the following four by four matrix:
Where the first three elements in the fourth column
represent the x, y, and z coordianates, respectively.
In order to find out the position of the end-effector for a generic three link manipulator using the Denavit-Hartenberg convention we need to multiply the three matrices taking into account their corresponding indeces:
When the multiplication is done the equations equivalent to x, y, and z coordinates of position of the end-effector are: