Denavit-Hartenberg Reference Frame Layout

[bassefa1984]

This took my professor 2.5 hrs to explain on the board and I still didn't get it.

Thnx for the vid :)

[mehdital]

@bassefa1984 Ours talked about it for 30 minutes...

[fuqaha8]

i have robotic test tomorrow.. =))

[mwmartin06]

thanks man, really appreciate this video

[mavenuparker]

Awesome......I understood DH Notation :)

[cKlutcHJ21]

Thank you! This is totally helping me out right now!

[rajkbehra]

3 days atleast u had saved my important 3 days ,which could have been utilised to understand this topic

[rajkbehra]

3 days atleast u had saved my important 3 days ,which could have been utilised to understand this topic

[Mhkais]

"that's all there is to it"

It has melted my mind all day...

[barbarossamotitoooo]

yes now i understand

[baxgr]

Perfect!!!

[MsQuinnzeL]

thank youuuuuuuuu veryyyyyyy much!

[alejandrorsaid]

Thank you very much... you save me lots of hours, looking into books...!!

[a080a080]

very useful !!!

thank you very much!!!!

[albie555]

thank you so much for saving my life

[gv1031]

very informative video very useful

[polakovoador]

you just saved my life :D

[sethumadhav1986]

Fabulous Video Thanks

[Mrmelf16]

Thank you.

[murthymail]

Sexy vid thanks!

5 stars :) :)

[Ahmadwana]

Good stuff, Thank you.

[malcomx2012]

it is really very amazing video and very helpful

and thank u for uploading this

[nataliaortizb]

Thanks a lot to upload this video, I finally understand how to put the frames

[richardcc29]

Is X1=Z0 cross Z1 or X1=Z1 cross Z0?

Are both directions ok?

[TekkotsuRobotics]

Both directions are OK, as long as you flip the sign on the associated 'r' parameter: a × b = -( b × a )

In other words, you have two choices for the direction of each x vector: one results in a positive r, the other results in a negative r. (If z₀ and z₁ intersect, then r₁ is 0 so this is arbitrary)

Neither choice of (z₀ × z₁) vs. (z₁ × z₀) will yield positive r₁ for all configurations, so if you want to enforce a positive r you have to check and flip signs as needed.