Build a serial revolute/prismatic joint chain from a DH table. Joint i
connects the previous link to row i's link; its motion is the variable
parameter (θ for revolute, d for prismatic) about/along +z, and its fixed
link geometry is carried on Joint.offset. The result drives correctly
through forwardKinematics and reports rows.length DOF via mechanismDOF.
Build a serial revolute/prismatic joint chain from a DH table. Joint
iconnects the previous link to rowi's link; its motion is the variable parameter (θ for revolute, d for prismatic) about/along +z, and its fixed link geometry is carried onJoint.offset. The result drives correctly throughforwardKinematicsand reportsrows.lengthDOF viamechanismDOF.