RoboticTutorial

Link-connection description

• link length $a_{i-1}$
• link twist $$

First link

• link length $a_0 = 0$
• link teist $\alpha_0 = 0$
• if joint 1 is revolute, $d_1 = 0$, only have $\theta_1$
• if joint 1 is prismatic, $\theta_1 = 0$, only have $d_1$

Last link

• link length $a_n = 0$
• link teist $\alpha_n = 0$
• if joint n is revolute, $d_n = 0$, only have $\theta_n$
• if joint n is prismatic, $\theta_n = 0$, only have $d_n$