Methodology for Teaching the Denavit-Hartenberg Notation

This paper delineates an innovative approach to teaching the Denavit-Hartenberg (D-H) notation at the Lodz University of Technology's Institute of Automatic Control. Recognizing the challenges students face in mastering D-H notation, including ambiguous terminology, specialized indexing, and a lack of clarity in its application, a structured teaching methodology is introduced along with the motivation behind it. This method divides the D-H procedure into distinct, meaningful units, each represented with mnemonic acronyms, to facilitate easier understanding and retention. Our approach extends to the systematic coding of kinematic chains and is complemented by practical exercises tailored to enhance comprehension.