5 Degree-of-Freedom
Robot Manipulator
Geometric Modeling

Please enter the Denavit-Hartenberg (D-H) parameters below.

The angles alpha and theta must be in degrees.

D-H Parameters

d

a

alpha

theta

Joint Type

Joint 1

d1:

a1:

alpha1:

theta1:

Revolute
Translational

Joint 2

d2:

a2:

alpha2:

theta2:

Revolute
Translational

Joint 3

d3:

a3:

alpha3:

theta3:

Revolute
Translational

Joint 4

d4:

a4:

alpha4:

theta4:

Revolute
Translational

Joint 5

d5:

a5:

alpha5:

theta5:

Revolute
Translational

Robot End-effector Orientation Choices

Please enter the desired end-effector orientation in the robot home position

+X

-X

+Y

-Y

+Z

-Z

will restore default DH-parameters

For an explanation of the 3D models generated by Robot Draw, see the model rules page.

Go to the Main Robot Modeling Page

Last Modified in September 1997