DH Tutorial — Master Index

Start here

Three tracks, roughly in order of study time investment.

Foundation. Learn DH on schematic mechanisms with no brand — the way the exam introduces the topic. Best starting point if you're new to DH. Switch between the original schematic and a rotatable 3D frame view.

Planar 2R · Planar RPR · Spatial 3R with offset

Track 2 · Commercial robots 6 robots ›

The named cobots and industrial arms that appear on representative exams from 2018–2026. Published DH tables, one explicitly labeled Panda/FR3 cross-source teaching model, and DH-generated 3D frames.

Kawasaki RS010N · Universal Robots UR5 · Efort ECR5 · Panda assignment + FR3 dimensions · PAL TIAGo · Siemens Artis Zeego

Track 3 · Canonical 6R pattern reference ›

What spherical-wrist 6R industrial arms share — and what they do not. Compares four published numerical family members with ABB GoFa, a published non-spherical counterexample, and shows how α signs depend on imposed frame choices.

Kawasaki RS010N · Kawasaki S030 · Yaskawa GP7 · Fanuc CR-15iA · ABB GoFa counterexample · Unitree Z1 Pro summary

Suggested learning path

Do all three tracks in order — abstract → commercial → canonical comparison
Within a track, click through each robot's steps. Progress persists per-robot via localStorage.
Use 3D rotatable to drag the robot, or use the Front / Side / Top / Rear camera presets. Top and Rear make the ⊙ / ⊗ reversal explicit.
The commercial track goes deepest — plan 15-25 min per robot for full engagement.
The canonical comparison is not a walkthrough; it's a reference chart for when you have the pattern down.

What each tutorial gives you

The two walkthrough tracks share one interactive engine; the canonical-pattern track is a static reference.

Rotatable 3D frames — geometry generated directly from the classical DH transform; drag, pinch, zoom, or use keyboard arrows.
SVG stick-figure schematic — the original 2D robot projection remains available, matching the style of the exam extra sheets.
Frame construction — the foundational robots build complete frames; higher-DOF projections emphasize exact z-axis relations and show selected unambiguous frame elements.
Growing DH table — rows appear as we derive them; the just-added cells flash briefly.
"Why" callouts — the design principle behind each choice, boxed in amber.
Cross-robot pattern notes — when a robot shares structure with another, the walkthrough calls it out explicitly.

Source of the DH tables

Values come from Prof. De Luca's official Robotics 1 exam materials. The RS010N, UR5, ECR5, TIAGo, Zeego and S030 parameters follow their published solutions. The Panda/FR3 entry is explicitly a teaching hybrid: its symbolic signs follow the 2018 Panda solution while its displayed magnitudes come from the 2024 FR3 sheet; it is not the published FR3 answer table. DH tables are not unique, so always follow the frame and sign constraints stated by the problem.