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

[@Cold_Ham_on_Rye]

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

[@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.

[@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

[@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.

[@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 !

[@vitalram1985]

Best explanation on DH parameters ever find.

[@tundeojutiku4281]

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

[@threshaxe]

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

[@saud9270]

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

[@alirizvi6375]

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

[@user-nz2en9vn3h]

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

[@Potato_soldier]

The best DH-conversation guide I seen ever!

[@alexhamilton-jones1884]

Brilliantly simple, well explained and nice animation - thanks!

[@npuldon]

Best video ever on DH parameters!

[@AnandVL]

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

[@lpedrosoacademic]

This video has made everything so clear to me!

[@ramonperez5506]

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

[@TheLeontheking]

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

[@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.

[@KiranParmar88]

Thank you for making this simple as possible!

[@tanyagupta3034]

Thanks for the video man! Awesome explanation and animation!

[@jiglesiasabio]

DH + Fireworks = AWESOME!
great video!

[@davidgmos]

thanks for taking your time to share this

[@ashishlakr]

THIS HELPED ME A LOT FOR MY EXAMS PURPOSE

[@nataliaortizb]

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

[@yvonnemakori9869]

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

[@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...

[@bcavalcante]

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

[@kemi242]

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

[@mustafahasria5362]

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

[@Manish-ue9xw]

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

[@shuusan]

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

[@TiborBotos]

Thanks, that's an awesome visual explanation!

[@willemjvo1967]

Great video! Concise and correct!

[@henokdaniel6358]

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

[@JadeOhara]

This is amazing!

[@fritzchennummber1]

Thanks a lot from Germany!

[@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

[@shenyan9062]

Thx. You made my life easy.

[@Alexr044]

Amazing video, can't thank you enough!

[@asharatiq4941]

Superb explanation!

[@TheDIYer]

Someone give him a medal/oscar, thanks very much

[@RoshanAkaravitage]

Thank You very much ! this is really helpful.

[@quentinl6256]

really helpful. thanks for a great vid

[@divixth]

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

[@ayushagarwal69]

omg , so well explained , thanks a lot :)

[@rajkbehra]

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

[@quannarula7046]

great video! thanks for sharing!

[@tarekwisdom664]

Amazing explanation .... thank you

[@peacemaker3913]

The sprinkels in the end *.*

[@muditmittalyou]

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

[@malcomx2012]

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

[@REL1C]

The confetti at the end makes the video.

[@VSongu]

Big like this video, highly handy

[@mwmartin06]

thanks man, really appreciate this video

[@palashrathore6277]

Nailed it bro!!

[@MasculintyOp]

You are the best... Thank you.

[@EigenA]

Great job, thank you!

[@rbaleksandar]

Great video. Thank you so much!

[@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)

[@roorkeeable]

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

[@ejtttje]

Blender www.blender.org

[@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?

[@BrianKCatlin]

What software was used to create this video?

[@mostafametwally]

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

[@eskicidukkan]

Thanks for the effort!

[@tholfikarn]

the best video ever

[@hosseinpazouki1371]

really helpful

[@ankushkoundal5181]

thanks much, this helps me a lot

[@wanderfra42]

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

[@Achannelsab]

Very nice tutorial

[@3anthos]

AMAZING!!! THANK YOU

[@RaniLink]

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

[@avinashsingh8458]

This is really helpful in those online classes.

[@3nrasandun]

thank you... this helped a lot

[@khoerulanwar3318]

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

[@amthakkaamthakka7595]

You are awesome! Thank You!!

[@jayantbenjamin4307]

great video

[@eduardoramada5164]

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

[@abdulrhmanklli1032]

thanx alot man that was so good

[@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?

[@BlackShadows2424]

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

[@Ahmadwana]

Good stuff, Thank you.

[@hamoudamezghani1756]

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

[@rkvijayvargiya6682]

Thanks from India

[@EjMacarus]

Awesome sauce

[@gv1031]

very informative video very useful

[@stebot1]

this is awesome.

[@karthikchalla4490]

Amazing

[@bestmessi87]

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

[@sission4630]

What software was used for this video?

[@MrGuitarMix]

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

[@user-rr4kx1ip3b]

awesome! thanks a lot!

[@cecilialogatto6209]

THANK YOU