Define the joints of a serial robot with the Denavit–Hartenberg table and see it in 3D. It computes forward kinematics with homogeneous transformation matrices, inverse kinematics to follow lines and circles, the Jacobian with the end-effector velocities and every motor torque from the dynamics.
Four values per joint (θ, d, a, α) that describe how to go from one reference frame to the next.
The matrix that maps joint velocities to the linear and angular velocity of the end effector.
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