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机械臂改进的DH参数与标准DH参数理论知识
2022-06-12 12:26:00 【4月16！】
绕X轴旋转：
绕Y轴旋转：
绕Z轴旋转：
SDH是ZX类变换，MDH是XZ类变换
ZX类变换：先绕着Zi-1（i-1坐标系）轴旋转和平移，然后绕Xi（i坐标系）轴旋转和平移
XZ类变换：先绕着Xi-1（i-1坐标系）轴旋转和平移，然后绕Zi（i坐标系）轴旋转和平移
SDH：变换矩阵
MDH：变换矩阵
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