Link frame definition

[FelixvanZ]

Hi, thanks for such a useful tool, I'm a bit unsure if the link frame is the one (joint frame) I used for my MDH modeling?
Now I'm having some problems with the simulink simulation. That is the output (torque) from simulink are not the same as those calculated from the dynamics equations that I derived from sympybotics, maybe it's because of the different definitions of link frame! May I ask how link frame is defined? Looking forward to your reply.