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I guess you're writing it all out for educational purposes, but conventionally to describe the kinematics of a serial robot arm Denavit-Hartenberg parameters are used, which needs only 4 parameters per link.

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Interesting! I hadn't heard of DH parameters before. I worked this out from first principles starting from turtle graphics and ended up with four primitive operations: yaw, pitch, roll, and move. Not surprisingly, the parameter count comes out the same.

If I want to understand DH, I guess I'll need to add another tab to the spreadsheet.

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