This tool helps in calculating Transformation matrices often required when working on Serial Robots for kinematics/control/dynamics. It uses the most common method of representing joints and links, i.e. DH parameters. Please follow along the steps to use it for your application.

## Step 1: Define Z Axis

Choose zi along the axis of motion of the i+1th link.

Go along all the Joints in the Robot and define Z axis for each joint as shown above.

## Step 2: Define X Axis

Choose xi such that it is the shortest vector between zi-1 and zi.

## Step 3: Get D-H Parameters

Now enter the 4 DH parameters into the tool shown below.

ai is the distance between zi-1 and xi along the direction of xi
(In Degrees) αi is the angle between zi-1 and zi along xi

di is the distance between zi-1 and xi along the direction of zi-1
(In Degrees) θi is the angle between xi-1 and xi alongzi-1
NOTE: units of a and d should be same.

## Step 4: Get Transformation matrix

Use this Transformation matrix to calculate Inverse and Forward Kinematics.

T = [[l.name]]  *

T = (I)