Denavit–Hartenberg forward kinematics is a clean, standardized way to turn a robot’s joint angles into an exact pose of its end-effector. By assigning a coordinate frame to each link and describing their relationships with just four parameters, you can chain simple transformation matrices to compute where the robot’s hand is in space. It’s powerful because it scales: once the frames are defined, the math works the same for a 2-joint arm or an N-joint manipulator.
Denavit-Hartenberg Forward Kinematics Visualizer
I created a visualizer for the D-H representation for forward/inverse kinematics.
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