Question

According to denavit-hartenberg's notations, joint angle will have

Answer 1

Explanation:

In mechanical engineering, the Denavit–Hartenberg parameters (also called DH parameters) are the four parameters associated with a particular convention for attaching reference frames to the links of a spatial kinematic chain, or robot manipulator.

Jacques Denavit and Richard Hartenberg introduced this convention in 1955 in order to standardize the coordinate frames for spatial linkages.[1][2]

Richard Paul demonstrated its value for the kinematic analysis of robotic systems in 1981.[3] While many conventions for attaching reference frames have been developed, the Denavit–Hartenberg convention remains a popular approach.