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I am trying to compute the forward kinematics for a 6 DOF robot arm.

I've found two methods : the Denavit-Hartenberg (original and modified) and the product of exponentials with the Rodrigues formula.

But I did not found any paper on the advantages and disadvantages of these two.

This methods are very similar because we define the axis lengths and twist angles but how are they different?

Thanks a lot for your explanations.

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