This tutorial presents one of interesting example how to deal with specifically oriented joints. In this case it is necessary to extend a little bit previous definition of DH parameters.
Denavit-Hartenberg convention is a technique which allows to derive parameters and variables of a kinematic chain of a manipulator. These parameter and variables can be after that used to get kinematic and dynamic models of a manipulator. Using the D-H convention can simplify the whole process. The notation will be explained on a sample manipulator which is illustrated in Fig. 1.