2 1 2 Lecture Video 3 of 4 Denavit Hartenberg Coordinate Frames

[@roychan3929]

There is a mistake in application of the right hand rule. Y1 is supposed to be pointed upwards.

[@zarp6635]

I know this is 8 years ago and wont be seen but I was struggling with this so much. Thank you so much this really helped me.

[@baharehadokht]

It was great. I read many rules and i was confused. Why my teacher can not make it simple as you? I believe people like you make the world happier. Thank you.

[@prajwal5879]

Y1 Should be pointing upwards as per Right hand rule. isn't it ??

[@FlowR91]

Nice video! But shouldn't Y1 be pointing upwards? If I understood it right, the right-hand-rule should let it point upwards, or? Greetings from germany

[@FlowR91]

+FlowR91 Okay, I just figured out, that there might be a few right-hand-rule-configurations...so this one is with thumb: z and midle finger x, right?

[@NumbEncoreOT]

+FlowR91 You don't use the right-hand rule this way. You should use the Left hand in this method. Thumb = Z axis, X = middle finger. And answering your question, Y1 should be pointing up.

[@Steven-hu2ji]

you always should use the right-hand rule: thumb = x middle finger = z index finger = y you just have to rotate your hand ;)

[@Steven-hu2ji]

and yes flow ur right

[@EdwinFairchild]

i wish someone would clarify "right hand rule" just google that and see the many inconsistent images...who knows what top use in this video alone ive read like 3 configurations

[@bharathgs1924]

@12:19 shouldn't the y1 and y2 be upwards according to the right hand rule

[@engmohammed2064]

smooth clear and clean >> RESPECT ++

[@TasneemSTEM]

For x axis we can use this recommended rule :- x0 axis is perpendicular to both z0 and z1 , then if there is no perpendicular axis we move z0 to z1 (same origin for both fram) and let x0 perpendicular for both .....

[@dr.javadshemshad4495]

determining X Y Z direction is that to assume you fasten/ turn a Nut from X clockwise towards Y then Z is the direction of the Nut movement inwards

[@rodi4850]

right hand rule: thumb = z index finger = x middle finger = y * y1 needs to point upwards.

[@LunaWolfs]

There is also a mistake where you confuse the Z0 axis with the Z1 axis. You are saying Z1, while meaning Z0. Thanks for making these videos, they are really helpfull!

[@GCodeRobotics]

7:10

[@Steven-hu2ji]

in the end the endeffector should be called x3, y3 and z3, right?

[@user-jm6gp2qc8x]

10:40 Z1 and Z2 are parallel. You can't draw even a single "mutually perpendicular" line. How did you draw so many like a chariot wheel rims?

[@asodemann3]

I am not sure if I am correctly understanding your question here: If two lines are parallel, then any line that is perpendicular to one of the lines is also perpendicular to the other. So, there are many (an infinite number) of mutually perpendicular lines here. All of those lines I am drawing at 10:40 are showing examples of these lines.

[@user-jm6gp2qc8x]

@@asodemann3 The set of all possible lines for our x axis are on a *plane containing Z1 and Z2* right?

[@user-jm6gp2qc8x]

@@asodemann3 just finished the 4 videos in series BTW. It was so good!

[@asodemann3]

@@user-jm6gp2qc8x yes, that's correct. In the video, this requirement is taken care of by 'Rule 4' saying that the X axis has to intersect both Z axes. But, saying that X has to be in the plane containing both Z axes is also true.

[@asodemann3]

@@user-jm6gp2qc8x Thanks! You can find newer versions of all of these videos on my website, www.robogrok.com

[@algcnc7275]

hi the Dervit Hartenberg it used just to give forward kinematic ?

[@estherlisiane9786]

Great explanation thank you!

[@akshaytushar11]

Thanks!!

[@pedramkhoshnevis]

Thank you so so much

[@mayankdhawan1145]

horrible handwriting but exceptional teaching skills u r a star if only u could work on making your work more legible thank u

[@asodemann3]

You can take a look at my newer videos on my website, www.robogrok.com