Analysis of the Different Conventions of Denavit-Hartenberg Parameters

Abstract

The four Denavit-Hartenberg (D-H) parameters allow determining the relative pose (position and orientation) between two coordinate frames in space. This makes them especially useful for modelling the kinematics and dynamics of robotic mechanisms. The method proposed by Denavit and Hartenberg leads to the original convention of D-H parameters, but there are other conventions, generated by some modifications to the original method. In this paper, an analysis of these conventions is made for the purpose of comparison. It is shown that they can be grouped in two well-defined “families”, which share similar properties. As a result, two new conventions show up.