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Is the notation of the geometry of robots from Khalil and Kleinfinger be considered as one of the probably "many" Modified DH Parameters?

Oswaldfig
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Khalil himself says that it is a form of the modified D-H parameters. See, e.g., Section 2.1 of the 2000 Springer-Verlag book Advances in Robot Kinematics.

SteveO
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  • Hopefully I can find that book you've suggested. The reason why I'm asking this because currently i'm trying model a 5 DOF revolute manipulator, it is my first model! I'm using Khalil and Dombre book as a reference. After modeling I want plug the results in the rvc toolbox of P. Corke for simulation and all what i know of the rvc toolbox is that they're using standard DH notation and also a modified version. – Oswaldfig Jan 19 '16 at 21:22
  • https://books.google.com/books?id=2AXoCAAAQBAJ&pg=PA62&lpg=PA62&dq=Khalil+and+Kleinfinger++kinematics&source=bl&ots=CgDmV3xRsn&sig=hirCn149Bvfe-CrIs_hjoVkkeSg&hl=en&sa=X&ved=0ahUKEwinj9-1y7bKAhXhtoMKHYCGA5EQ6AEIIzAB#v=onepage&q=Khalil%20and%20Kleinfinger%20%20kinematics&f=false – SteveO Jan 19 '16 at 22:02