| Denavit Hartenberg Parameters |
|---|
| a(i) = Distance measured from Z(i) axis to Z(i+1) axis and in the direction of X(i) axis |
| alpha(i) = Angle measured around the X(i) axis from the Z(i) axis to the Z(i+1) axis |
| d(i) = The distance from the X(i-1) axis to the X(i) axis and measured in the direction of the Z(i) axis |
| theta(i) = Angle measured around the Z(i) axis from the X(i-1) axis to the X(i) axis |
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The under construction...