Forward Kinematics of Robotic Arm with 6 Degrees of Freedom

This template is based on the Denavit-Hartenberg method, so you will need to input the correct parameters for the calculations to take place.
Remember to take into consideration the end effector of the robot being analyzed, the end effector tool will affect the distances for your Denavit-Hartenberg parameters.
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DH Parameters
Key:
Each DH parameter is enumerated from 1 to 6 corresponding to each joint.
delta is the distance between previous x-axis and new x-axis along previous z-axis. 
theta is the angle, in radians, around the z-axis between previous and new x-axis.
alpha is the angle around the common normal between the previous and the new z-axis
radius is the length of the common normal, which is the distance between the previous z-axis and the current z-axis
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Joint_1
﻿﻿delta_1
:1​
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﻿﻿theta_1
:1.5707963267948966​
﻿
﻿﻿alpha_1
:1.5707963267948966​
﻿
﻿﻿radius_1
:2​
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Joint 2
﻿﻿delta_2
:1.5​
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﻿﻿theta_2
:1.5707963267948966​
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﻿﻿alpha_2
:1.5707963267948966​
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﻿﻿radius_2
:2.5​
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Joint 3
﻿﻿delta_3
:1​
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﻿﻿theta_3
:1.5707963267948966​
﻿
﻿﻿alpha_3
:1.5707963267948966​
﻿
﻿﻿radius_3
:1​
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Joint 4
﻿﻿delta_4
:5​
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﻿﻿theta_4
:1.5707963267948966​
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﻿﻿alpha_4
:1.5707963267948966​
﻿
﻿﻿radius_4
:5​
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Joint 5
﻿﻿delta_5
:4​
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﻿﻿theta_5
:1.5707963267948966​
﻿
﻿﻿alpha_5
:1.5707963267948966​
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﻿﻿radius_5
:3​
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﻿
Joint 6
﻿﻿delta_6
:2​
﻿
﻿﻿theta_6
:1.5707963267948966​
﻿
﻿﻿alpha_6
:1.5707963267948966​
﻿
﻿﻿radius_6
:2​
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﻿
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The final positional vector for the end effector, will show inside the Excel spreadsheet, it's titled T_Final and it's blue. The red values in the final positional vector represent the orientation of the end effector.