Though, Denavit-Hartenberg notation is commonly used to describe the kinematics of robot manipulator, some researcher prefer the product of exponential instead; and even the claim that it's better.
Which one should I use, and which one is generally better; is final solution same for both kinematics and dynamics?
Any suggestions?
http://www.cds.caltech.edu/~murray/books/MLS/pdf/mls94-complete.pdf
DH convention is very famous for historical reasons. However, there is no doubt that exponential coordinates can open to you a new world of analysis and computational tools. If it is your interest to obtain a rapid solution for a problem DH is faster to learn, thus you can arrive faster to the desired solution. If you have a bit of time to spend, and/or you are expected to face kinematics (and many other robotics) problems go to exponential coordinates. I personally suggest Murray, Li, Sastry "a mathematical introduction to robotic manipulation". cheers
As Edoardo wrote, DH (or modified) DH convention is famous for historical reasons. Simply because I'm used with it, I would use the DH convention if I were you. Now, if you want to discover another way of looking at your problem, feel free to choose the exp notation.
After all, there are no black-and-white solutions.
Alex
If you are analyzing the kinematics of the mechanism through screw theory, twists and wrench systems, I would definitely recommend using product of exponential formulation. There is a direct correlation between the twists and wrench systems described by screw theory and the product of exponential formulation. This will make the analysis more intuitive and informative. Otherwise if your focus is only on the final results like inverse kinematics solution or workspace plotting, I would recommend denavit-hartenberg notation. I would too suggest the book by Murray as Edoardo in the first response.
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