Vizzy Denavit–Hartenberg parameters

Head center Link alpha R theta D 0 Pi/2 0 0 0 virtual link 1 Pi/2 0 0 0 M0 → M1 2 Pi/2 0 0 -0.37 M1 → M2 3 Pi 0.13221 19*Pi/17 0 M2 → M3 Inertial sensor Link alpha R theta D 0 Pi/2 0 0 0 virtual link 1 Pi/2 0 0 0 M0 → M1 2 Pi/2 0 0 -0.37 M1 → M2 3 Pi 0.13221 -0.2611*Pi 0 M2 → M3 4 Pi/2 0 0.7389*Pi 0 M3 → Inertial sensor Right eye Link alpha R theta D min/max 0 Pi/2 0 0 0 0/0 virtual link 1 Pi/2 0 0 0 -20/20 M0 → M1 2 Pi/2 0 0 -0.37 -53/53 M1 → M2 3 Pi 0.13221 19*Pi/17 0 -18/37 M2 → M3 4 -Pi/2 0 2*Pi/17 -0.111 -38/38 M3 → M4 5 0 0.05 0 0 -38/38 M5 → End-effector Left eye Link alpha R theta D 0 Pi/2 0 0 0 virtual link 1 Pi/2 0 0 0 M0 → M1 2 Pi/2 0 0 -0.37 M1 → M2 3 Pi 0.13221 19*Pi/17 0 M2 → M3 4 -Pi/2 0 2*Pi/17 0.111 M3 → M5 5 0 0.05 0 0 M5 → End-effector Right arm Link alpha R theta D 0 Pi/2 0 0 0 virtual link 1 -Pi/2 0 0 -0.0805 M0 → M0R 2 -Pi/2 0 0 0.212 M0R → M1R 3 Pi/2 0 Pi/2 0.10256 M1R → M2R 4 -Pi/2 0 -7*Pi/18 0 M2R → M3R 5 -Pi/2 0 Pi/2 0.16296 M3R → M4R 6 Pi/2 0 0 0 M4R → M5R 7 Pi/2 0 0 0.18925 M5R → M6R 8 Pi/2 0 -Pi/2 0 M6R → M7R 9 -Pi/2 -0.1 0 0 M7R → End-effector Left arm Link alpha R theta D 0 Pi/2 0 0 0 virtual link 1 Pi/2 0 0 0.0805 M0 → M0L 2 -Pi/2 0 0 -0.212 M0L → M1L 3 Pi/2 0 -Pi/2 0.10256 M1L → M2L 4 -Pi/2 0 11*Pi/18 0 M2L → M3L 5 -Pi/2 0 -Pi/2 -0.16296 M3L → M4L 6 Pi/2 0 0 0 M4L → M5L 7 Pi/2 0 0 -0.18925 M5L → M6L 8 Pi/2 0 Pi/2 0 M6L → M7L 9 -Pi/2 -0.1 0 0 M7L → End-effector

Virtual link corresponds to:

<math> H_0= \begin{bmatrix} 1.0 & 0.0 & 0.0 & 0.0\\ 0.0 & 0.0 & -1.0 & 0.0\\ 0.0 & 1.0 & 0.0 & 0.0\\ 0.0 & 0.0 & 0.0 & 1.0 \end{bmatrix} </math>

or if you prefer code:

 //H0 (1.0 0.0 0.0 0.0   0.0 0.0 -1.0 0.0  0.0 1.0 0.0 0.0   0.0 0.0 0.0 1.0)     // given per rows (Very precise MATLAB Matrix)
 Matrix H0(4,4);
 H0.zero();
 H0(0,0)=1.0;
 H0(1,2)=-1.0;
 H0(2,1)=1.0;
 H0(3,3)=1.0;

Parameters by Nuno Conraria.