Link description

Link and joint:

Joint axis (i):

Length of link (ai):

Angle of twist (i):

Offset of link (di):

Joint angle (i):

 Frame assignment to each link
Origin: Where the perpendicular
intersects the joint i axis.

Z-axis: For frame {i}, called Zi,

coincides with the joint axis i.

X-axis: For frame {i}, called Xi points

along ai in the direction from joint i
to joint i + 1.
 Frame assignment to each link
Origin: Where the perpendicular
intersects the joint i axis.

Z-axis: For frame {i}, called Zi,

coincides with the joint axis i.

X-axis: For frame {i}, called Xi points

along ai in the direction from joint i
to joint i + 1.
 Frame assignment to each link
Origin: Where the perpendicular
intersects the joint i axis.

Z-axis: For frame {i}, called Zi,

coincides with the joint axis i.

X-axis: X1 points along a1 in the

direction from joint i to joint i + 1.
Frame assignment to each link
Frame assignment to each link
DH parameter table
Forward kinematics
Forward kinematics
Forward kinematics
DH parameter table?
How to determine transformation matrix of i w.r.t. i-1.
How to determine transformation matrix of i w.r.t. i-1.
EXAMPLES OF TWO KINEMATICS OF TWO INDUSTRIAL ROBOTS