CONTENTS

Page no.

1. Direct kinematics problem in robotics 1

2. Geometry based direct kinematic analysis 1

3. Coordinate and vector transformation using matrices 3

4. The orientation matrix and translation vector 4

5. Denavit-Hartenberg convection 5

6. Obtaing the DH displacement Matrices 6

7. Applications of the dh method 7

a. An Articulated Arm 7
b. An Cylindrical arm 10

8. References 12

Dept of Mechanical engineering, PESCE, Mandya.