Research Article
Virtual Submerged Floating Operational System for Robotic Manipulation
Table 4
D-H parameters explanation.
| Parameters | Meaning | Detailed explanation |
| | Link length | the distance from joint axis (i-1) to joint axis i |
| | Link twist | the angle from joint axis (i-1) to joint axis i |
| | Link offset | the distance from joint to |
| | Joint angle | the angle between joint to |
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