Direct coordinate changes
Modeling and control of robot manipulators

Each body i of the mechanism is associated with a direct orthonormal reference frame {X _i , Y _i , Z _i } noted R _i . The particular reference marks are, on the one hand, that of the base {X 0 , Y ₀ , Z ₀ } noted R ₀ and, on the other hand, that, R _n , of the end member {X _n , Y _n , Z _n }. The base reference frame occupies a known position and orientation relative to a fixed reference frame if...