Appendix B
Recursive Newton-Euler algorithms, modified DH notation

In order to apply the RNE, let us define the following variables (referenced in the i^th coordinate frame if applicable):

• σ_i is the joint type; σ_i = 1 for a revolute joint and σ_i = 0 for a prismatic joint;
• p_i = ^T is the position of the i^th with respect to the i - 1^th frame;
• z₀ = ^T