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Is the notation of the geometry of robots from Khalil and Kleinfinger be considered as one of the probably "many" Modified DH Parameters?

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Khalil himself says that it is a form of the modified D-H parameters. See, e.g., Section 2.1 of the 2000 Springer-Verlag book Advances in Robot Kinematics.

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  • $\begingroup$ Hopefully I can find that book you've suggested. The reason why I'm asking this because currently i'm trying model a 5 DOF revolute manipulator, it is my first model! I'm using Khalil and Dombre book as a reference. After modeling I want plug the results in the rvc toolbox of P. Corke for simulation and all what i know of the rvc toolbox is that they're using standard DH notation and also a modified version. $\endgroup$
    – Oswaldfig
    Jan 19, 2016 at 21:22
  • $\begingroup$ books.google.com/… $\endgroup$
    – SteveO
    Jan 19, 2016 at 22:02

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