Forward Kinematics with Denavit-Hartenberg Parameters

Interactive 2-Link Planar Robot Arm Simulator

Robot Visualization

Link 1
Link 2
End Effector

End Effector Position

X: 0.00 mm

Y: 0.00 mm

Distance from base: 0.00 mm

Joint Angles

Joint 1 45 degrees
Joint 2 30 degrees

Link Lengths

Link 1 100 mm
Link 2 80 mm

Denavit-Hartenberg Parameters Table

Joint i Joint Angle Link Offset Link Length Link Twist
1 45 deg (variable) 0 mm 100 mm 0 deg
2 30 deg (variable) 0 mm 80 mm 0 deg

Note: For this planar 2-link robot, d and alpha are zero. In 3D robots, these parameters describe vertical offsets and twists between joint axes.