Join us on **June 28, 2025, at 12:00 PM PT / 2:00 PM CT / 3:00 PM ET** for an exciting live training where we’ll learn frame assignments in robotics using Otto DIY Biped Robot. Frame assignment in robotics is a crucial step in defining the coordinate systems for the joints and links of a robotic manipulator. This process is essential for performing kinematic and dynamic analysis, as well as for controlling the robot's movements accurately.
One of the most widely used methods for frame assignment is the **Denavit-Hartenberg (DH) convention**. This convention simplifies the mathematical representation of the robot's kinematics by standardizing the way frames are assigned to each joint and link. The DH convention involves the following steps:

1. **Assign a frame to each joint**: The z-axis of each frame is aligned with the axis of rotation for revolute joints or the axis of translation for prismatic joints.
2. **Determine the DH parameters**: These parameters include: θ (theta): The joint angle, which is the rotation around the z-axis. d (distance): The offset along the z-axis. a (alpha): The link length, which is the distance between the z-axes of two consecutive frames. α (alpha): The link twist, which is the angle between the z-axes of two consecutive frames.
3. **Construct the DH parameter table**: This table lists the DH parameters for each joint, which are then used to derive the transformation matrices.

Led by **Laurnetta Sanks,** Senior Software Developer and Co-Founder of The iNugGits STEM Academy, this hands-on class will walk you through the **Denavit-Hartenberg (DH) convention/method**. This technical concept will be broken down in a way that's easy to understand.
Whether you’re curious about robotics or looking to learn a simpler understanding of **Denavit-Hartenberg (DH) convention/method**, this class will help you take your first steps in one of the world’s most popular concepts in robotics for frame assignment.
**Don’t miss this opportunity to learn by doing—register now and start your coding journey with us!**

Intro to Robotics iNugGits STEM Academy

Laurnetta Sanks

Finding Otto Kinematics Using Denavit Hartenberg Convention

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