This robot has 2 revolute joints in advance then one cylindrical joint, then one revolute joint, then another cylindrical joint, then three revolute joints at the end.
There is no D-H table for that and I modeled it in Simulink with the help of Simscape. Now I need the D-H table for the controller part in the Matlab function.
I know that If the rotation of z-axis happens about its X-axis like joint number 2, I can show this change as an Alpha in my D-H table. As it illustrates, rotation of z-axis of revolute joint number 4 happened about the y-axis of TJ2. How can I show this kind of rotation of z-axis in my D-H table?