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Hello, I want to ask about the DH notation for this RRR Robot with special end effector (See in the picture). I have a problem when writing the DH notation from join 3 to the end effector. the L shape link connect joint 3 to the end effector. I cannot derive the DH notation with this structure. What I saw that I need to translate it along y direction but DH notation did not use Y axis as parameters.

Thank You


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