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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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