Direct Kinematic Program with Focus on Education

Abstract

The purpose of this article is to simplify the way of learning and applying the Denavit - Hartenberg (D-H) steps for
calculating the Direct Kinematics of an industrial robot. The application described has the advantage of significantly
simplify the mathematic calculation process that is performed in order to find the direct kinematic of that robot. When
entering the D-H parameters (, d, a y ) into the program, this has the capacity to show previous results to the T matrix
(Homogeneous Transformation Matrix). The management and use of the application is intuitive for the people who have
some knowledge in engineering.