How should I build the DH parameter table for the DH model of the 6-joint robot?

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  • first I would draw the robot in zero position for every axis.


    As a second step you would need to define which transformation matrice you want you use:

    - as defined by DH (rot.z (theta)*trans.z(d)*trans.x(a)*rot.x(alpha))

    - as defined by Craig (rot.x(alpha)*trans.x(a)*trans.z(d)* rot.z (theta))

  • first I would draw the robot in zero position for every axis.


    As a second step you would need to define which transformation matrice you want you use:

    - as defined by DH (rot.z (theta)*trans.z(d)*trans.x(a)*rot.x(alpha))

    - as defined by Craig (rot.x(alpha)*trans.x(a)*trans.z(d)* rot.z (theta))

    Thank you, I will try!

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