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Theoretical knowledge of improved DH parameters and standard DH parameters of manipulator

2022-06-12 12:40:00 【April 16!】

Around the X Shaft rotation ：

Around the Y Shaft rotation ：

Around the Z Shaft rotation ：

SDH yes ZX Class transformation ,MDH yes XZ Class transformation

ZX Class transformation ： Go around Zi-1（i-1 Coordinate system ） Axis rotation and Translation , Then go around Xi（i Coordinate system ） Axis rotation and Translation

XZ Class transformation ： Go around Xi-1（i-1 Coordinate system ） Axis rotation and Translation , Then go around Zi（i Coordinate system ） Axis rotation and Translation

SDH： Transformation matrix

MDH： Transformation matrix

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