Before revision: <ref> Foundations of Robotics: Analysis and Control by Tsuneo Yoshikawa 1990 ISBN 0262240289 page 33 The common normal is widely used in the representation of the frames of reference for robot joints and links, and the selection of minimal representations with the Denavit-Hartenberg parameters.
After revision: Foundations of Robotics: Analysis and Control by Tsuneo Yoshikawa 1990 ISBN 0262240289 page 33 The common normal is widely used in the representation of the frames of reference for robot joints and links, and the selection of minimal representations with the Denavit-Hartenberg parameters.