## Denavit-Hartenberg convention - tutorial 1

Denavit-Hartenberg convention is a technique which allows to derive parameters and variables of a kinematic chain of a manipulator. These parameter and variables can be after that used to get kinematic and dynamic models of a manipulator. Using the D-H convention can simplify the whole process. The notation will be explained on a sample manipulator which is illustrated in Fig. 1.

## Hello world

Welcome to my blog, where I publish various things related mainly to robotics. You can read here my scientific papers, get familiar with my theses and see materials, which are not published elsewhere.