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Recursive Newton-Euler algorithms, DH notation
In order to apply the RNE as presented in [13],
let us define the following variables
(referenced in the
coordinate frame if applicable):
is the joint type;
for a revolute
joint and
for a prismatic joint;
-
is the
position of the
with respect to the
frame;
-
Subsections
Richard Gourdeau
2004-07-06