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I'm confused regarding the representatoin of a 6 D.O.F. robot arm with multiple links. I have the denavit-Hartenberg parameters and have used these to create a Rigid Body Tree model in MATLAB. The model works perfectly in MATLAB and is capable of tracking a trajectory in Task Space. The next step is to implement a Model Predictive Controller. But in order to a apply a Model Predictive Control sheme I need the state space representation.

How can i get from the Denavit-Hartenberg parameters to a state space representation?

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