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I have a simple question, for the last link (end effector) I need to estimate the parameters but when I put the reference frames in the center of the end effector, I just don't know.

Last link (end effector) will be from origin of previous link to where? I don't know why I can't understand this one.

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Here are some comments for the DH method:

  1. Certain parameters of the frame attached to the first and last links need not be defined. They can be chosen arbitrarily.

  2. But generally, make as many parameters as possible to zero.

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