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1 Forward Kinematics. 2 DH Representation 3 DH Representation - Frames (Convention) Frame i is attached to link i. The inertial frame is Frame 0 and.

1 Forward Kinematics. 2 DH Representation 3 DH Representation - Frames (Convention) Frame i is attached to link i. The inertial frame is Frame 0 and.

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