Modern Robotics adopts the Product of Exponentials (PoE) mathematical approach (also known as screw-theoretic) over Denavit-Hartenberg (D-H) for forward kinematics . Do robotics companies use PoE in their written software or is D-H still the practical choice?
I work for Viam[0] and while all of our actual calculations are made using Spatial Vector Algebra[1], inputs can be made in a number of different ways and supporting DH is crucial for allowing pre-existing configurations to be easily brought over to our platform. SVA can also conveniently be easily used for both kinematics and dynamics.
Personally I find SVA way more intuitive than DH or PoE.
Thanks for the reference to SVA. I found a pretty understandable set of intro slides [0] on Roy Featherstone's home page [1] under the Teaching Material section.
