i α ɑ d ϴ i α ɑ d ϴ

1 0 0 0 Θ1 1 0 0 0 0
2 -90 0 0 Θ2 2 -1,571 0 0 0
3 0 a2 d3 Θ3 3 0 0,4318 0,1505 0
4 -90 a3 d4 Θ4 4 -1,571 0,0203 0,4318 0
5 90 0 0 Θ5 5 1,5708 0 0 0
6 -90 0 0 Θ6 6 -1,571 0 0 0

T0-1= 1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1

T1-2= 1 0 0 0
0 0 1 0
0 -1 0 0
0 0 0 1

T2-3= 1 0 0 0,4318
0 1 0 0
0 0 1 0,1505
0 0 0 1

T3-4= 1 0 0 0,0203
0 0 1 0,4318
0 -1 0 0
0 0 0 1

T4-5= 1 0 0 0
0 0 -1 0
0 1 0 0
0 0 0 1

T5-6= 1 0 0 0
0 0 1 0
0 -1 0 0
0 0 0 1
T0-2 = 1 0 0 0 = T0-1*T1-2
0 0 1 0
0 -1 0 0
0 0 0 1

T0-3 = 1 0 0 0,4318 = T0-1*T1-2*T2-3

0 0 1 0,1505
0 -1 0 0
0 0 0 1

T0-4 = 1 0 0 0,4521
0 -1 0 0,1505
0 0 -1 -0,432 = T0-1*T1-2*T2-3*T3-4
0 0 0 1

T0- 5= 1 0 0 0,4521
0 0 1 0,1505
0 -1 0 -0,432 = T0-1*T1-2*T2-3*T3-4*T4-5
0 0 0 1

T0-6 = 1 0 0 0,4521
0 -1 0 0,1505
0 0 -1 -0,432 = T0-1*T1-2*T2-3*T3-4*T4-5*T5-6
0 0 0 1