Elephant Robotics myCobot Pro 600 User Manual page 41

SDH parameter list:
Joints movement:
For the rotation of each joint in Figure 3-1, the direction of arrows in the
figure is the positive direction of the joint.
Cartesian coordinate movement:
Taking the coordinate system {x0,y0,z0} in Figure 3-2 as the standard, the
X axis is perpendicular to the forward direction of the fixed base, the Y axis is
perpendicular to the left direction of the fixed base, and the Z axis is perpendicular
to the upward direction of the fixed base.
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