This lecture contains a detailed explanation about kinematics of open chain (series) robot, forward and inverse kinematics. Also the lecture discusses the Dinavit & Hartenberg convention and its parameters, in addition to the algorithm for determining the final homogeneous matrix representative for all open chain robots. At the end of this lecture, there is a solved practice about D-H convention applied on 5 degrees of freedom (5 DOF) series robot as an executive example.
Eng. Rami Khalil
Mechanical Design and Production Engineer.