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Hi I am working with a WidowX-200 robot arm. I have an fake joint between joints 2 and 3 to simulate an offset in the actual robot arm. enter image description here

The joints are motors which can turn and here are the joint angles I have defined: enter image description here

Here are my DH parameters:

enter image description here

I have tried forward kinematics, but am getting strange results especially in relation to the fake axis. Are my DH parameters correct?

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