From Tekkotsu Wiki
- d = height of reference frame n's origin above the xn-1-yn-1 plane
- θ = xn's angular offset (about the zn-1 axis) from the xn-1 axis
- r = distance to travel from zn-1 along the xn axis to reach the origin of reference frame n
- α = zn's angular offset (about the xn axis) from zn-1
When zn is parallel to zn-1, the value of d is arbitrary, and α is 0.
This version uses a slightly different order of operations: θ, d, r (called a), and α. Switching the d and θ steps has no effect on the final result.
Rotate around z0 by θ
Displace along z0 by d
Displace along x1 by a (or r)
Rotate around x1 by α
|All in one|