A series robot with n joints will have n +1 links. Numbering of links starts from (0) for the immobile grounded base link and increases sequentially up to (n) for the end-effector link. Numbering of joints starts from 1, for the joint connecting the first movable link to the base link, and increases sequentially up to n. Therefore, the link (i) is connected to its lower link (i − 1) at its proxi7nal end by joint i and is connected to its upper link (i + 1) at its distal end by joint 2 + 1, as shown in Figure 5.1.
Link (i) and its beginning joint i − 1 arid its end joint i.
Keywords
Transformation Matrix Coordinate Frame Revolute Joint Joint Variable Rest Position
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