I am studying the forward kinematics for robot manipulators, and I am focusing on the Denavit Hartenberg convenction for assigning frames to the various joints of the manipulator.
The problem is that I am often confused, and so it is easy to make mistakes for me.
I have understood the concept of the D-H convenction and how it assigns frames, but when I start having more complex manipulators to analyze, for example spacial manipulators with both prismatic and revoulute joints , I start making confusion and assigning frames wrongly.
So, my question is:
Is there a way to assign frames being sure (or at least reducing a lot) the chances of making mistakes?