Forward kinematics - example 2.

Robot has one prismatic joint and three rotary joints in its construction. Table with Denavit-Hartenberg parameters is written for robot. Because robot has four joint, four transformation matrix are obtained. Each transformation matrix is for two consecutive coordinates systems. To write transformation matrix between coordinate system a general form of transformation matrix is used. Transformation matrix which describes any position from last coordinates system in base coordinates system, is obtained by multiplying transformation matrixes between consecutive coordinates systems.