This is a model of a 3-dof planar manipulator. This model helps visualize the manipulator’s motion and each link's Denavit-Hartenberg coordinate system. Also, the model helps visualize the intermediate coordinate systems that result from each successive rotation and translation of the (i-1)th coordinate system by the joint variables and link parameters that lead to the ith coordinate system. The thickest arrows correspond to the DH coordinate systems, the thinner arrows correspond to the intermediate coordinate systems and the thinnest arrows correspond to the base coordinate system. The purple lines correspond to the link offsets (di) and the orange lines correspond to the link lengths (ai). The simulation outputs the x, y and z components of the position of the origin of the hand coordinate system with respect to the base coordinate system.