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11 months ago in Robotics By Vishal

Denavit-Hartenberg (D-H) or Sheth for deriving the direct kinematics

For a simple two-link, two-joint robotic arm, is there an easier way to figure out its forward kinematics than going through the full Denavit-Hartenberg or Sheth methods? Maybe something more intuitive for beginners?

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By Heena Answered 10 months ago

For a simple 2-link planar arm, basic trigonometry or vector geometry is the simplest method. For more complex spatial arms, Screw Theory and the Product of Exponentials (PoE) formulation can be a more intuitive alternative to D-H, though it requires learning new concepts. For your laser project, trigonometry is likely the most straightforward approach.

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