Review Basic robotic Kinematic problems Direct(forward) Kinematics Inⅴ erse Kinematics DH Notation Z b KZi C-1 X Blok X Revolute joints ZReview • Basic Robotic Kinematic Problems Direct (forward) Kinematics Inverse Kinematics • DH Notation Oi- 1 Oi Oi+ 1 Zi- 1 Zi Zi+1 i-1 i i+1 Xi- 1 Xi Xi+1 Revolute joints bi-1 bi i ai-1 ai  i i- 1 i-1