Forward kinematics - example 4.

Considered model of robot has four rotary joints and one prismatic joint. Coordinates systems are assigned to robot's construction via Denavit-Hartenberg notation. Because robot has five joints as a result five coordinates systems are obtained. Between two consecutive coordinates systems transformation matrix is designated. Robot has five joints so five transformation matrixes are obtained. Transformation matrix which describes any position from last coordinates system in base coordinates system, is obtained by multiplying transformation matrixes between consecutive coordinates systems.