Visualize Robot Arm Forward Kinematics in 3D
A free browser-based forward kinematics tool for learning and prototyping serial robot arms. Set Denavit–Hartenberg parameters for each joint, drag sliders to animate the arm, and watch the end-effector pose update live in an interactive 3D view — no installation needed.
How to Use the Forward Kinematics Visualizer
1
Choose a preset or edit DH parameters
Start with one of three presets or manually enter θ, d, a, α values in the DH table. Mark each joint as revolute or prismatic.
2
Move joint sliders to animate the arm
Drag the slider for each joint to change θ (revolute) or d (prismatic). The 3D model and end-effector data update instantly.
3
Read the end-effector pose
The XYZ position, roll-pitch-yaw angles, and full 4×4 transformation matrix are shown below the viewport in real time.
Explore robot arm poses by editing DH parameters and moving joint sliders
Presets
DH Parameters (Standard Convention)
Standard Denavit–Hartenberg convention: θ — rotation about Z; d — translation along Z; a — translation along X; α — rotation about X. For revolute joints θ is the variable; for prismatic joints d is the variable.
| # | Type | θ (deg) | d | a | α (deg) | Variable |
|---|
Joint Variables
End-Effector Pose
X
—
Y
—
Z
—
Roll
—
Pitch
—
Yaw
—
End-Effector Transform (4×4)
Published
Updated
