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

Submitted by LeoMa on Thu, 2013-07-25 21:54

Hi everyone,

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

Leo

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

Submitted by LeoMa on Thu, 2013-08-08 22:13.

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?

Thanks,

LeoMA

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