Robot kinematics modeling needs clear physical concepts.Widely used standard D-H method allowed the coordinate system to establish on the extension of axis,leading to the problems such as inapplicability for all the joints modeling,the model unmatching the entity and wrong local joint position analysis,etc.In order to get unified,intuitive and accurate modeling method,a unified entity modeling method,the coordinate system fixed on the entity of D-H notation(CFDH)was presented.How to establish the coordinate...
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