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Denavit-Hartenberg Convention. Number the joints from 1 to n starting with the base and ending with the end-effector. Establish the base coordinate system. Establish a right-handed orthonormal coordinate system at the supporting base with axis lying along the axis of motion of joint 1.Establish joint axis. Align the Zi with the axis of motion (rotary or sliding) of joint i 1. Establish the origin of the ith coordinate system. Locate the origin of the ith coordinate at the 273

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