Menu
Home
People
Places
Arts
History
Plants & Animals
Science
Life & Culture
Technology
Reference.org
Denavit–Hartenberg parameters
open-in-new
<p>In <a href="/facts/Mechatronics/bfxokpu6">mechatronics engineering</a>, the Denavit–Hartenberg parameters (also called DH parameters) are the four <a href="/facts/Parameter/zFvVFMv9">parameters</a> associated with the DH convention for attaching <a href="/facts/Reference_frame/15yYfB9M">reference frames</a> to the links of a spatial <a href="/facts/Kinematic_chain/7RTSWjQ9">kinematic chain</a>, or <a href="/facts/Manipulator_(device)/gv3hVXGa">robot manipulator</a>. </p><p>Jacques Denavit and Richard Hartenberg introduced this convention in 1955 in order to standardize the coordinate frames for <a href="/facts/Linkage_(mechanical)/mcQPwQdP">spatial linkages</a>. </p><p>Richard Paul demonstrated its value for the kinematic analysis of robotic systems in 1981. While many conventions for attaching reference frames have been developed, the Denavit–Hartenberg convention remains a popular approach. </p>