DH Algorithm - Direction of X

In Denavit-Hartenberg Algorithm, the way to assign x-axis is as follows.
Select Xk to be orthogonal to Zk and Zk-1
Considering the case where Zk and Zk-1 intersect, I can chose 2 opposite
directions of Xk which are orthogonal to Zk and Zk-1.
Which is the right direction? Or is it arbitrary?
Reply to
Loading thread data ...

PolyTech Forum website is not affiliated with any of the manufacturers or service providers discussed here. All logos and trade names are the property of their respective owners.