.

Calculating
the position and orientation of the end-effector in terms of the joint
variables
is called as forward kinematics.
As shown in Figure 2, the distance from Zi-1 to
Zi measured along Xi-1 is assigned
as ai-1, the angle between Zi-1 and Zi
measured along Xi is assigned as
i-1, the distance from Xi-1 to Xi measured
along Zi is assigned as di and the angle
between Xi-1 to Xi measured about Zi is
assigned as i