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Mixing coordinate frames and transformations

Assume the space $\mathbb{R}^3$ is equipped with two frames $F_0$ with $O_0$ as origin and $F_1$ with $O_1$ as origin. The orthonormal basis of the first frame is $(\mathbf{e_1^0}, \mathbf{e_2^0}, \...
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When assigning frames in Denavit-Hartenberg (DH) parameters, where do I put the frame on end effector?

After going through the theory and applications of robotic manipulations, it is beneficial to put the origin of the end effector's reference frame at the grasp point, rather than the geometric center ...
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