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There is not one correct DH Frame assignment, but there are many. Even if you do not get the same results, you might still have a correct frame assignment. The first, base frame at the root of the robot, sometimes called robroot frame is the reference frame, relative to this are the TCP coordinates defined, this is why it is needed. A this is a frame ...


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There are 2 main rules in assigning frames following DH convention: source: Robot Modeling and Control, Spong et. al $x_i \perp z_{i-1}$ $x_i$ intersects $z_{i-1}$ In your attempts, Your first attempt is incorrect as your $z_2$ axis is not in the direction of actuation of the prismatic joint. I'm not clear on your second attempt as $x_1$ appears to be ...


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Yes you can visualive it in matlab, using robot toolbox for Matlab here. Visualization would look like this And code example for MDH table for my 6 DOF Serial manipulator : a = 40/1000; b = 81/1000; c = 130/1000; d = 18/1000; e = 166/1000; f = 31/1000; g = 95/1000; p = SerialLink([... Revolute('d',b,'a',0,'alpha',0,'modified');... Revolute('d',0,'a',a,'...


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No, unfortunately there is no automated way to convert between different DH parameter conventions. See my similar question here: How to convert between classic and modified DH parameters? Also, you might be interested in this paper: "Lipkin 2005: A Note on Denavit-Hartenberg Notation in Robotics". It explains the 3 main DH parameter conventions and how ...


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I answered a similar question DH parameters for a PPP arm, take a look for a detailed answer. If your first joint is the origin, you start the parameters by looking to the next joint. In this case, the last line of the table will give you the parameters of the transformation between the last joint and the end effector. For your RRP arm, the DH parameters ...


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This is an overview of the DH Convention, there is a piece where they discuss having parallel joint axis. https://www.youtube.com/watch?v=nuB_7BkYNMk IMO I believe that it is best to choose your parameters for that axis in the best way to get to the next joint, or one that represents the physical bodies best. If you choose a solution that makes it ...


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