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Unformatted text preview: x i i : angle from z i1 and z i measured about x i d i : distance between o i1 to the intersection of x i and z i1 measured along z i1 i : angle from x i1 and x i measured about z i1 Step 5: Find the DH parameters 1/25/2012 18 Link a i i d i i 1 0 0 d 1 1 * 2 0 90 d 2 * 0 3 0 0 d 3 * 0 * joint variable...
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This note was uploaded on 02/13/2012 for the course CSE 4421 taught by Professor Burton during the Winter '11 term at York University.
 Winter '11
 BURTON

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