Arms Kinematics

The Denavit-Hartenberg method has become the standard of kinematics calculations in the robotics field due to its organization when locating the coordinate systems in each link and that it only depends on four parameters. The approach is to attach reference frames to each link of the kinematic chain, starting from the robot's base and going through the robot successively until the end effector.

Applying the Denavit-Hartenberg method to the arm on the right, some of the matrix obtained are shown below. Then those matrix can be used to calculate the forward and inverse kinematics and move the arm in different trajectories as shown on the results section.