Choose z_{i} along the axis of motion of the i+1^{th} link.

Choose x_{i} such that it is the shortest vector between z_{i-1} and z_{i}.

a_{i} is the distance between z_{i-1} and
x_{i} along the direction of x_{i}

d_{i} is the distance between z_{i-1} and x_{i} along the
direction
of z_{i-1}

**NOTE: unit of a and d should be
same.**

link | a | alpha | d | theta | Matrix | |
---|---|---|---|---|---|---|

{{printMatrix(l)}} |

Use this Transformation matrix to calculate Inverse and Forward Kinematics.

T = {{l.name}} *

T = (I)

{{printFinalMatrix()}}