petercorke / petercorke/RVC3-python
DH Parameters, joint angle definition uses incorrect axis index
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Since Feb 12, 2025.
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Description
Table 7.2, page 275. The description for joint angle uses incorrect z axis indexing.
"The angle between the x_j and x_{j+1} axes about the z_{j-1} axis"
I believe it should be:
"The angle between the x_j and x_{j+1} axes about the z_j axis"
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