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Day 7.2 - Denavit-Hartenberg T ii 1 Rz,i Tz,di Tx,ai Rx,i...

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Denavit-Hartenberg 1/25/2012 6 i i i i x a x d z z i i R T T R T , , , , 1 1 0 0 0 0 i i i d c s s a s c c c s c a s s c s c i i i i i i i i i i i i i i angle joint offset link link twist length link i i i i d a
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Denavit-Hartenberg 1/25/2012 7
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Denavit-Hartenberg 1/25/2012 8 notice the form of the rotation component this does not look like it can represent arbitrary rotations can the DH convention actually describe every physically possible link configuration? i i i i i i i i i i i i c s s c c c s s s c s c
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