Robotics - Forward & Inverse Kinematics - Denavit & Hartenberg Convention:

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.

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