RoboticTutorial

Link-connection description

link length $a_{i-1}$
link twist $$

First link

link length $a_0 = 0$
link teist $\alpha_0 = 0$
if joint 1 is revolute, $d_1 = 0$, only have $\theta_1$
if joint 1 is prismatic, $\theta_1 = 0$, only have $d_1$

Last link

link length $a_n = 0$
link teist $\alpha_n = 0$
if joint n is revolute, $d_n = 0$, only have $\theta_n$
if joint n is prismatic, $\theta_n = 0$, only have $d_n$