Denavit-Hartenberg Reference Frame Layout

This video demonstrates use of the Denavit-Hartenberg convention for defining the reference frames of a kinematic chain.
In short, the z-axis for each joint is placed along its axis of motion, and then the x-axes are placed along the common normals between these z-axes. Then four parameters are used to specify the transformation between each of these frames:
• d - the "depth" along the previous joint's z axis
• θ (theta) - the rotation about the previous z (the angle between the common normal and the previous x axis)
• r - the radius of the new origin about the previous z (the length of the common normal)
• α (alpha) - the rotation about the new x axis (the common normal) to align the old z to the new z.
See also the Tekkotsu kinematics page, with numerical examples, tools, and links to download HD. www.tekkotsu.org/Kinematics.html

[@vinaloi41]

This type of stuff has to be learned visually. I had no idea what my textbook was saying.

[@longbeachboy57]

Same here :)

[@asharatiq4941]

Cold Ham on Rye this just saved my exam!

[@williamchamberlain2263]

You're right. But this also has a good sequence of words, and a good sequence of steps which introduce the variables one at a time. I think that textbooks try to cram it into too short a space: it looks like at least 2 pages of A4 at 11pt Arial to me, with an illustration for each point which highlights the measurements and variable being introduced.

[@muhammadzafarullahkhalid5129]

True

[@jaystonn]

I couldnt keep looking at it as a triangle 😭😭

[@hardeep1331]

it's amazing how a 3 minute video can teach you more than reading a whole chapter

[@sorrefly]

3 minutes explained more of 6 hours of class

[@MrNormanhughes1]

Wow, this just taught me how D-H works better than a 4th year undergraduate course could. THANKS!!!

[@dez7800]

sameeeeee ! 7 years later lol

[@jean-pauldus5241]

Wonderful video. I recommend it to every person that needs to understand the Denavit-Hartenberg convention. If you could do other videos like that please do it! It really helps. Thank you.

[@UPBCFernando]

It´s 2020 and your video still rocks, i show this to my robotics class every time i need to explain DH parameters, thanks!!

[@rajivkrishnatr]

You made it seem very simple! Better than the textbooks!

[@green8026]

The utility/information to time ratio on this video is one of the highest I've ever seen. It's even higher than Master Yoda's.

[@tundeojutiku4281]

Wonderful! Full semester course explained in 3 minute. Thank you Sir.

[@vitalram1985]

Best explanation on DH parameters ever find.

[@zihanqiao2850]

Perfect video for learners to understand the meaning of the four parameters!

[@PEJOTAvix]

Great vid.
Awesome to understand the variables of Denavit-Hartenberg.
Indicated by my teacher in a robotics introdutory class.

[@kenzalazrak790]

please keep making videos like this, you just have saved my life ! thanks !

[@saud9270]

the best explanation ever. these 3 mins where better than the 3 hour lecture I had

[@user-nz2en9vn3h]

Found this video on wikipedia and it's very helpful, thank you

[@alirizvi6375]

The visualization is very helpful in understanding the DH frame assignment. Thank you so much.

[@alexhamilton-jones1884]

Brilliantly simple, well explained and nice animation - thanks!

[@threshaxe]

This made DH transforms click. People like you are the saving grace for visual learners like me.

[@TheLeontheking]

The explanation was quite good, but what really made it was the celebrating robot at the end ;)

[@Potato_soldier]

The best DH-conversation guide I seen ever!

[@AnandVL]

Denavit-Hartenberg would be proud! This video saved me. Brilliant explanation. Thanks loads

[@npuldon]

Best video ever on DH parameters!

[@ramonperez5506]

You made this look so simple. Thanks!!! Good job with the graphics too.

[@lpedrosoacademic]

This video has made everything so clear to me!

[@AndreasAn]

Thanks a lot. This short animation and explanation was more worth than 2 hours of reseraching the internet for texts and imgages.

[@ahmedayman8369]

Thanks a lot man. Saved me a lot of time. Way better than seeing them on a 2D slide.

[@tanyagupta3034]

Thanks for the video man! Awesome explanation and animation!

[@KiranParmar88]

Thank you for making this simple as possible!

[@davidgmos]

thanks for taking your time to share this

[@sahilrupani3043]

You saved my grace... like literally bro... I would have damn near flunked my paper cause i simply couldn't visualise it... Whoever you are you rock...
P.S. I wouldn't be surprised if it was Denavit himself who realised he needed to make a video to explain himself...

[@jiglesiasabio]

DH + Fireworks = AWESOME!
great video!

[@yvonnemakori9869]

Wow...Am impressed...So simple and easy to understand

[@nataliaortizb]

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

[@ashishlakr]

THIS HELPED ME A LOT FOR MY EXAMS PURPOSE

[@bcavalcante]

I wish you were my robotics teacher!
Thanks for your explanation!!!

[@TiborBotos]

Thanks, that's an awesome visual explanation!

[@mustafahasria5362]

It's more than a fantastic video it's a lot to learn in 3 minute

[@shuusan]

wow.. tons of love for you brother, u save my life

[@Manish-ue9xw]

this clip deserve more views , textbooks should provide such links for better understanding.

[@willemjvo1967]

Great video! Concise and correct!

[@JadeOhara]

This is amazing!

[@henokdaniel6358]

wow....this helps tremendously man. thank you

[@ayushagarwal69]

omg , so well explained , thanks a lot :)

[@kemi242]

Thanks. I'm studying for an exam, and this helped make it clear.

[@quannarula7046]

great video! thanks for sharing!

[@asharatiq4941]

Superb explanation!

[@boiledham]

Thank you so much for this video. I want you to know that it's still being used in college lectures because it's far more intuitive to see the D-H convention in 3-D rather than a page of a textbook.

[@williamchamberlain2263]

BoiledHam I found it via
15-494 Cognitive Robotics
David S. Touretzky &
_Ethan Tira-Thompson_
Carnegie Mellon
Spring 2012
:)

[@fernando4959]

Even wikipedia is referring this video, in the article (not reference / footnote)

[@quentinl6256]

really helpful. thanks for a great vid

[@RoshanAkaravitage]

Thank You very much ! this is really helpful.

[@Alexr044]

Amazing video, can't thank you enough!

[@divixth]

Dangg!!! This is all I want
Thanks Dude :D

[@shenyan9062]

Thx. You made my life easy.

[@RaniLink]

I'm always baffled by how a 3 minute video can explain what my incompetent professor couldn't in a 3 hour lecture

[@tarekwisdom664]

Amazing explanation .... thank you

[@fritzchennummber1]

Thanks a lot from Germany!

[@muditmittalyou]

Really awesome......Great animation!!!

[@justeeSh]

+ve angle(theta and alpha) is obtained by conterclockwise rotation and +ve length( r and a) are obtained by moving from previous x-axis to new origion

[@mwmartin06]

thanks man, really appreciate this video

[@VSongu]

Big like this video, highly handy

[@rbaleksandar]

Great video. Thank you so much!

[@EigenA]

Great job, thank you!

[@palashrathore6277]

Nailed it bro!!

[@TheDIYer]

Someone give him a medal/oscar, thanks very much

[@malcomx2012]

it is really very amazing video and very helpful
and thank u for uploading this

[@eskicidukkan]

Thanks for the effort!

[@ankushkoundal5181]

thanks much, this helps me a lot

[@MasculintyOp]

You are the best... Thank you.

[@MrGuitarMix]

When the teacher dances like 2 hours in front of the class to explain the DH convention.

[@abdulrhmanklli1032]

thanx alot man that was so good

[@3anthos]

AMAZING!!! THANK YOU

[@REL1C]

The confetti at the end makes the video.

[@3nrasandun]

thank you... this helped a lot

[@Achannelsab]

Very nice tutorial

[@jayantbenjamin4307]

great video

[@amthakkaamthakka7595]

You are awesome! Thank You!!

[@hosseinpazouki1371]

really helpful

[@rajkbehra]

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

[@Ahmadwana]

Good stuff, Thank you.

[@hamoudamezghani1756]

thanks , this helps me a lot :) you are just grate ;)

[@BlackShadows2424]

This is what my whole last lecture should've been boiled down too.

[@khoerulanwar3318]

nice I like it, very informative than a book i think

[@mostafametwally]

Thank you !! I am studying at RWTH and this video was really helpful :D

[@EjMacarus]

Awesome sauce

[@wanderfra42]

This video is a-w-e-s-o-m-e!

[@avinashsingh8458]

This is really helpful in those online classes.

[@tholfikarn]

the best video ever

[@gv1031]

very informative video very useful

[@user-rr4kx1ip3b]

awesome! thanks a lot!

[@stebot1]

this is awesome.

[@namensklauer]

what about the r=0 case? if that 45° angle (where the second joint is connected) wasnt there, so that the second Z axis would go right through the first one, then the new X axis should be aligned with the old Y axis, right? a "minimal rotation around the old Z axis" would leave +90° and -90° as solutions, so postive wins?

[@MrKillerto]

thank you this video it's help me :)

[@karthikchalla4490]

Amazing

[@punstress]

Great video. I need to simulate a robot in Gazebo standalone and can't figure how to incorporate DH tables. I'm new to robotics, Gazebo, simulation, yeah so it's not going well. Can't find any documentation. Stressing out!

[@rbaleksandar]

I have a question to ask. Let's say we have two rotational joints and the rotation axis of the second is perpendicular to the the rotation axis of the first. The common normal in this case is the same as the rotation axis of the second joint. In this case how can we determine the frame (x,y,z) of the second joint using the DH-convention?

[@bestmessi87]

When the z axes are perpendicular the common normal is the point where intersect. In this case I can choose x arbitrarily?

[@cecilialogatto6209]

THANK YOU

[@roorkeeable]

Hi, how did you create this video? What kind of software did you use? thank you

[@ejtttje]

Blender www.blender.org

[@YogeshYadav-lp6tn]

wow.....thank you so much

[@eduardoramada5164]

Hi. Do you authorize the download and use it in a educational simulator as support material for students?

[@polakovoador]

you just saved my life :D