Some notes: z0 is the axis of actuation for joint 1, z1 is the axis for joint 2, etc. For my robot specifically, the +x0 axis is toward the front of the robot, the +y is toward the left. Note: the transformation matrices T[0,3] appear to not work, so make it yourself with A[1].A[2].A[3] DOF=3 (Robotica requires a line of comment text between DOF and joint1) -90 Degree joint1 = revolute a1 = seg1length alpha1 = 90 Degree d1 = 0 theta1 = q1 joint2 = revolute a2 = seg2length alpha2 = 0 d2 = 0 theta2 = q2 joint3 = revolute a3 = seg3length alpha3 = 0 d3 = 0 theta3 = q3