Ch3 Part 2c: This video shows the procedure for frame attachment (assignment) to the links, and the procedure for extracting the DH parameters, with examples (video 3 of 5). Chapter 3: Manipulator Kinematics (John Craig’s Introduction to Robotics book). Video sequence: (Ch3 Part 2b) video comes before this video, and (Ch3 Part 2d) video comes after this video.
TEXTBOOK REFERENCE: Introduction to Robotics - Mechanics and Control, by John Craig, 4th Edition, Pearson Education, Inc. Hoboken, NJ 07030, USA.
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