Calculate Transformation matrix from D-H Parameters

Step 1: Define Z Axis


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

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Step 2: Define X Axis


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

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Step 3: Get D-H Paramerters


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: unit of a and d should be same.

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link a alpha d theta Matrix
{{printMatrix(l)}}

Step 4: Get Transformation matrix


Use this Transformation matrix to calculate Inverse and Forward Kinematics.

T = {{l.name}}  * 

T = (I)

{{printFinalMatrix()}}