User:Alcopo63q/sandbox

A bus drive wants to imagine his stops as joints in a mechanism and the straight line paths that he follows on his route between them as the links in that mechanism. He starts from a local origin. The driver uses conventional Denavit Hartengerg parameters where d is the offset along the previous z axis to the common normal, theta is the angle about the previous z axis, from the old one to the new one, a is the length of the common normal (if assuming that this is a revolute joint, this is the radius about the previous z axis), and alpha is the angle about the common normal from the old z axis to the new z axis.

The bus drive has five different stops on his route. The values of d are 0.1, 0.3, 0.1, 0.12, 0.1. The values of a are 1, 2, 3.25, 1, 4. The values of alpha are 25, 0, 152, 0, 0 in degrees. The values of theta are 45, 0, 26, 256, 45. We can also calculate the distance between the first and last bus stop. The distance between the first and last bus stop is 7.68 XXXXXXX [units]