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I have problem of determining the DH table, specially finding x axis when two z axis are parallel to each other

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    $\begingroup$ Are you trying to apply DH to frames that don't have a DH representation/solution? $\endgroup$ – hauptmech Jun 25 at 21:30
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    $\begingroup$ Welcome to Robotics @OptimusPrime. Can you provide more detail? We prefer practical, answerable questions based on actual problems that you face, so it's a good idea to include details of what you want to achieve, what you tried, what you saw & what you expected to see. Please take a look at How to Ask & tour for more information on how stack exchange works and work through the Robotics question checklist to edit your question to make it clearer. $\endgroup$ – Ben Jun 25 at 22:36
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Make them parallel to the previous X Axis. This helps reducing the number of non-zero coordinates in the DH table which in turn means less + and * operations in the calculations.

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