Assigning coordinate frames
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To be able to determine the spatial relationship or transformation, respectively, between the links of a manipulator, local coordinate frames have to assigned to them first.
There are several rules that have to be observed when assigning coordinate frames following the Denavit-Hartenberg convention. The notation of the links and joints is shown in the figure below. A manipulator consists of 
links that are connected with joints. The links correspond to the rigid parts of an arm. The joints are the always assigned to the proximate linksA link corresponds to a rigid The first link is mounted on the base via joint 1
