Serial Robots and Denavit Hartenberg Parameters

Trying to figure out what the Denavit-Hartenberg parameters of my Faro arm were I came across this:

"Denavit-Hartenberg Parameters for a Three-Link Robot"
 demonstrations.wolfram.com/DenavitHarten...sForAThreeLinkRobot/

This allows you to adjust the DH parameters of a robot with a graphical preview which makes it very much clearer what each parameter does.

You can basically adjust the on-screen model until it looks like yours, and then read off the DH params.

Though you may need to slightly rearrange them for Genserkins, which uses modified DH Parameters

The point is that this makes it really easy to see what each parameter means. And you can set up the alpha and r numbers to make it look like your robot, with the software keeping track of rotary vector directions etc.