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This document summarizes a lecture on manipulator kinematics. It introduces link parameters including ai, αi, di, and θi to describe the distance and angles between links. It describes how to assign reference frames to each link using the Denavit-Hartenberg convention. Examples are provided to demonstrate how changing the plane or orientation of links affects the reference frame assignment and resulting D-H parameters. The document derives the transformation matrix used to calculate the position and orienta

Author

Muhammad Abdullah Younas

Language

EN