DH Matrix Playground

Input Parameters

Note:Angles are input in degrees but converted to radians for calculation.

cos(θ)

-sin(θ)cos(α)

sin(θ)sin(α)

a·cos(θ)

sin(θ)

cos(θ)cos(α)

-cos(θ)sin(α)

a·sin(θ)

sin(α)

cos(α)

-0·1

0·0

1·1

-1·0

1·0

Px1

Py0

Pz0

This 3D visualization tool is designed for precision work on larger screens. Please switch to a desktop or laptop to continue.