DH Tutorial — Commercial Robots

Joint 1: vertical, at the base
Joint 2: horizontal, at the shoulder (offset from J1 by a₁)
Joint 3: horizontal, at the elbow (parallel to J2)
Joint 4: along the forearm axis (rolls the wrist)
Joint 5: perpendicular to J4 at the wrist center (pitches)
Joint 6: perpendicular to J5 at the wrist center (rolls the tool)

—

z-axis (3D: ☉ toward, ⊗ away) x-axis y-axis common normal (a) offset along z (d) origin twist α (arc) joint angle θ (arc) Tick to show a layer, untick to hide it. Hiding a layer also frees up the labels around it.

Step 0 of 0