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)

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

File:Classic-DHparameters.png, 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)

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 $M^{-1}_{ij} = M_{ji}$ 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)

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

Chris2crawford (talk) 13:13, 2 December 2011 (UTC)

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)

: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)

Probably an error in inertia component formula

There is this formula in [https://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters#Dynamics 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)

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)

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)