Transformation matrix from D-H Parameters

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 z_i along the axis of motion of the i+1^th 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 x_i such that it is the shortest vector between z_i-1 and z_i.

Step 3: Get D-H Parameters

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

Step 4: Get Transformation matrix

Use this Transformation matrix to calculate Inverse and Forward Kinematics.

T = [[l.name]]  * 

T = (I)

More Info about Demo Robot

The Example DH parameters are for ABB IRB120

The Robot and the images related to it are courtesy of abb.com website and are used here as reference only.
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