  This paper discusses modelling two 6 DOF arm robots. The first step of
modelling a robot is establishing its Denavit-Hartenberg parameters. It
requires assigning proper coordinates for each link and finding their exact
dimensions. In this project we will develop the direct kinematics and workspace
representations for two manipulators: the Smokie Robot and the Barrett WAM.
After finding the D-H parameters and creating Transformation Matrices,MATLAB
programming is used to represent their workspaces.
