Livoa LogoLivoa

di (Joint offset)


distance between Xi and Xi+1 along Zi

θi (Joint angle)


angle between Xi and Xi+1 about Zi (CCW rotation)

ai (Link length)


distance between Zi and Zi+1 along Xi+1

αi (Twist angle)


angle between Zi and Zi+1 about Xi+1 (CCW rotation)

Grad mini

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