Bảng D – H:

i θi αi di ai var
01 0 d1 a1 L1 X
12 θ1 -90 L2 0 θ1

23 θ2 d3 a3 L3 θ2

34 θ3 d4 a4 L4 θ3

442 θ4 0 0 L5 θ4

425 θ 42 0 0 L6 θ 42

551 θ5 0 0 L7 θ5

516 0 0 0 L8 X
141 θ1 -90 L9 0 θ1

4151 θ 41 0 0 L6 θ 41

516 0 0 0 L8 X

[ ]
θ2 +θ3 =α =225
θ 3+ 45+θ 4=180
Rút gọn: θ 4 +θ'4' =θ41 +θ42=90
'

θ'4' +θ 5+ 45=θ 4 2 +θ5 + 45=180

=>

[ ]
1, 0 , 0 , L1
T01 = 0 , 1, 0 , 0
0 , 0 ,1 , 0
0 , 0 , 0 ,1

[ ]
cos ( θ1 ) 0−sin ( θ1 ) 0
sin ( θ1 ) 0 cos ( θ1 ) 0
T12 =
0−10 L2
0001
 [ ]
cos ( θ2 ) −sin ( θ2 ) 0 l 3∗cos ( θ2 )
sin ( θ2 ) cos ( θ 2) 0 l 3∗sin ( θ 2 )
T23 =
0010
0001

[ ]
1 1 1
2
−2 2 2 ∗L4
2 2
0−
2 2 2
1 1 1
T34 = −2 2 2 2
2 ∗L4 2
− 0−
2 2 2
0010
0001

[ ]
( π2 )−sin ( θ − π2 ) 0l ∗cos( θ − π2 )
cos θ2− 2 5 2

sin (θ − ) cos ( θ − ) 0 l ∗sin ( θ − )

T442 = π π π
2 2 5 2
2 2 2
0010
0001

[ ]
( cos θ41− ) (
π
2
π
)
sin θ41− 0 l 6∗cos θ 41−
2
π
2 ( )
T425 = −sin (θ 41 − ) (
π π
)
cos θ 41− 0−l6∗sin θ41−
π
( )
2 2 2
0010
0001

[ ]
( π4 )−sin ( θ − π4 ) 0l ∗cos (θ − π4 )
cos θ41− 41 7 41

sin (θ − ) cos ( θ − ) 0 l ∗sin (θ − )

T551 = π π π
41 41 7 41
4 4 4
0010
0001
 [ ]
1, 0 , 0 , L8
T516 = 0 , 1 ,0 , 0
0 , 0 , 1, 0
0 , 0 , 0 ,1

[ ]
cos ( θ1 ) 0−sin ( θ1 ) 0
sin ( θ1 ) 0 cos ( θ1 ) 0
T141 =
0−1 0 L9
0001

[ ]
cos ( θ 41) −sin ( θ41 ) 0 l 6∗cos ( θ41 )
sin ( θ41 ) cos ( θ 41) 0 l 6∗sin ( θ41 )
T4151 =
0010
0001