A Reconfigurable System Approach to the Direct Kinematics of a 5 D.o.f Robotic Manipulator

Table 1

Denavit-Hartenberg parameter of robot manipulator.

Joint	Angle	Displacement	Length	Twist
variable	𝜃𝑛	𝑑𝑛	𝑙𝑛	𝛼𝑛
𝜃1	𝜃1	𝑑1 (106 mm)	0	90
𝜃2	𝜃1+90	𝑑2 (130 mm)	𝑙2(0mm)	−90
𝑑3	0	𝑑3	0	0
𝜃4	𝜃4	0	0	90
𝜃5	𝜃5	𝑑5 (0 mm)	0	0