Following the DH standard1 you must provide 4 numbers that define the orientation of the ith link with respect to the i-1th link. "Standard" DH convention assumes that the ith coordinate frame is at the i+1 joint.
The first number represents the angle (in radians) between zi-1 and zi about xi.
The second number represents the length (in meters) along xi of the common perpendicular between zi-1 and zi.
The third number represents the angle (in radians) between xi-1 and xi about zi-1.
The fourth number represents the distance (in meters) along axis zi-1 between the origin of the i-1th coordinate frame and the point where the common perpendicular intersects axis zi-1
"Modified" DH Parameters
Following the modified DH standard2, you must provide 4 numbers that define the orientation of the ith link with respect to the i-1th link. Unlike the "standard" DH convention, the "modified" DH convention assumes that the ith coordinate frame is at the i joint.
The first number represents the angle (in radians) between zi-1 and zi about xi-1.
The second number represents the length (in meters) along xi-1 of the common perpendicular between zi-1 and zi.
The third number represents the angle (in radians) between xi-1 and xi about zi.
The fourth number represents the distance (in meters) along axis zi between the origin of the ith coordinate frame and the point where the common perpendicular intersects axis zi
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