In robotics, these are conventionally described by Denavit-Hartenberg parameters.

The common normal is widely used in the representation of the frames of reference for robot joints and links, and the selection of minimal representations with the Denavit-Hartenberg parameters.

The Denavit-Hartenberg parameters (also called DH parameters) are the four parameters associated with a particular convention for attaching reference frames to the links of a spatial kinematic chain, or robot manipulator.