| 75 | For example, to generate the transform from coordinate Frame 2 to coordinate Frame 1 (i.e. the position and orientation of Frame 2 described in terms of Frame 1 which is also a rotation about joint 2), use the parameters in the second row of Table 1 as follows: |

| 76 | |

| 77 | {{{ |

| 78 | #!div class="center" align="center" |

| 79 | {{{ |

| 80 | #!latex |

| 81 | $^{0}T_{3}=\left[\begin{array}{cccc} |

| 82 | c1c2c3-c1s2s3 & -s1 & -c1c2s3-c1s2c3 & 0.435c1c2c3-0.435c1s2s3+0.069s1+0.650c1c2+0.156s1)\\ |

| 83 | \sin(\theta_{2}) & \cos(\theta_{2})\cos(0) & -\cos(\theta_{2})\sin(0) & 0.650\sin(\theta_{2})\\ |

| 84 | 0 & \sin(0) & \cos(0) & (0.156)\\ |

| 85 | 0 & 0 & 0 & 1\end{array}\right]$ |

| 86 | |

| 87 | '''Equation 3: D-H Matrix Example''' |

| 88 | }}} |