Which direction for X when defining DH parameters for two perpendicular Z axes?

Hello everyone,

I have a question about the definition of X axis for a Denavit Hartenberg parameters.

If two consecutive Z axis are perpendicular, the X direction (the common normal) can be along only one line but in which direction?

– When alpha is calculated, the direction of X makes it +90 or -90. How will this affect the model?

Thank you

submitted by /u/Biomacs
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