How to generate the Frame when you generate a segment? And how to clarify RotX,RotY or RotZ?

Hi everyone,

I am learning. Is this frame for segment the transform Matrix for the joint and link? Thanks.


If I follow traditional DH definition, I should always use RotZ

Am I correct?

In the traditional DH definition, Z axis is always follow the rotation axis for rotary joint.

Then when should use RotX or RotY?