Standard DH convention: Ti = Rz(θi)·Tz(di)·Tx(ai)·Rx(αi). Frame 0 is the base.
Angles in degrees. One row per frame (1…N) after the base. Mark a row "Fixed" if it has no free joint variable.
| # | Type | θ (°) | d | a | α (°) |
|---|
Sweep a joint away from its table value to confirm its frame's z-axis matches the physical motor axis. Resets don't change your table.