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The coordinate system of joint i is placed at the end of the I-1 joint, can it?

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The coordinate system of joint i is placed at the end of the I-1 joint, can it?

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OK. In robot kinematics, the coordinate system of each joint is usually based on the end of the previous joint, so that the motion state of the robot can be described through a series of translations and rotations.
Therefore, placing the coordinate system of joint i at the end of the i-1 joint is in line with the basic principles of robot kinematics and is feasible.

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