D-H Parameters in Robotics

Learn about D-H (Denavit-Hartenberg) parameters in this 19-minute video lecture from NPTEL-NOC IITM. Explore the fundamental concepts and applications of D-H parameters in robotics and kinematics. Gain a comprehensive understanding of how these parameters are used to describe the geometry of robot manipulators and their importance in solving forward and inverse kinematics problems. Discover the systematic approach to assigning coordinate frames and determining the four D-H parameters for each joint in a robotic system.