Sometimes the links of a manipulator have got such a shape that it is difficult to get the final result because equations are becoming complicated. In this case not many software are able to deal with the problem of designating the parameters of the manipulator. In this tutorial such a problem is introduced and later the method is proposed how to simplified working with such manipulators.
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.