.. _app_robotic-arm-kinematics:

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Application: robotic-arm-kinematics
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1. Description
----------------

This graphical application allows creating models of robotic manipulators by
introducing the corresponding Denavit-Hartenberg (DH) parameters.
It is a useful tool for teaching and learning the basics of robotic arm kinematics.
As the rest of MRPT applications, it is included in source and binary packages in
the download page.

The main C++ class behind this app is `mrpt::kinematics::CKinematicChain <class_mrpt_kinematics_CKinematicChain.html>`_

2. Video tutorials
-------------------

This video demonstrates the program in action and explains the meaning of the DH parameters:

.. raw:: html

    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
        <iframe src="https://www.youtube.com/embed/FO4v1gQNwIY" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
    </div>

And this is another version with subtitles in Spanish:

.. raw:: html

    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
          <iframe src="https://www.youtube.com/embed/pvNTsFDbrFI" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
    </div>
