DH parameters (two-link planar manipulator)

DH = {{0, 0, 0, θ1, 0}, {0, L1, 0, θ2, 0}, {0, L2, 0, 0, 0}} ; DH //TraditionalForm

( 0 0 0 θ1 0 ) 0 L1 0 θ2 0 0 L2 0 0 0

Created by Mathematica  (October 1, 2003)