Then, the relationship between a flexible redundant manipulator's self-motions and its joint kinematic parameters is studied.

然后分析了机器人的自运动与关节运动参数之间的关系。

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This paper gives a general method of creating kinematic model of robots, which includes building joint links by DH rule, setting up joint coordinate frames and finding DH parameters.

本文给出了自动建立机器人关节座标架原则，DH参数正负号确定原则，描述了关节座标架建立流程及DH参数求解方法。

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