Simple DH-parameter implementation in MATLAB
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DH-Parameters with MATLAB

Simple and straight-forward implementation of DH-parameters in MATLAB
This can be used to execute forward kinematics of the robot to find position and orientation of every link of the robot.


  • Forward kinematics
  • Homogenous transformation of each link of the robot
  • Numerical jacobian
  • Simple visualization, it can also be animated
  • Inverse kinematics with the pseudo-inverse method.

How to use:

  • Create the robot structure with serial_arm_init.
  • Actuate the joint with serial_arm_set_joint_pos or with serial_arm_set_all_joint_pos functions.
  • Update robot internal structures with serial_arm_update
  • If necessary, plot the robot with serial_arm_plot


Auralius Manurung