The meaning of parameters

[changhaotianlovell]

hello:
I have read this report carefully.It's Comprehensive and detailed and I appreciate it very much!
I don't quite understand the meaning of some parameters.For example,the r(i,i+1) which are in NO. 12.
I think r01=[0,0,0.2]' ;r12=[0,0.36,0];r23=[0,0,0];r34=[0,0,0.38] ... the bi which are in NO. 18. I think
b1= (R01)'*Z0; b2= (R02)'*Z0; b3=(R03)'*Z0... Can you tell me which is the first axis of rotation?Z0 or
Z1?
Thanks a lot! I look forward to hearing from you.

[changhaotianlovell]

if b(i+1)=(R(0,i+1))'*R(0,i)Z0=(R(i,i+1))'(R(0,i))'*R(0,i)*Z0=(R(i,i+1))'*Z0
so R(i,i+1)*b(i+1)=Z0. Why R(i,i+1)*b(i+1) is equal to Z0? I don't understand it.

[changhaotianlovell]

Can you tell me your email address?My email address is 1246803185@qq.com
I hope to be your good friend!