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Hi Nutan,

As far as I can tell KDL does not directly support DH parameters to specify the kinematic chain. This is because this representation is quite limited (e.g. can't manage branching mechanisms).

I'd recommend you to use URDF, which is a XML based robot description file format which can be easily parsed into a KDL chain using kdl_parser.

You can find lots of information on both URDF and kdl_parser in the robot_model stack docs at http://www.ros.org/wiki/robot_model

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