Denavit–Hartenberg parameters

[pano]

hi,
someone who know DH convention?
it's a 4R manipulator; I have set the frames following DH rules, they should be right

is this DH table of parameters rigth?

Link_i	theta_i	d_i	a_i	alpha_i
1	q1	0	L1	0
2	q2	0	L2	0
3	q3	-M	-N	+90°
4	q4	L3	N	0

thanks

[Kelly_Bramble]

See the following engineering training videos.

Denavit-Hartenberg Reference Frame Layout

Forward and Inverse Kinematics Part 1

Forward and Inverse Kinematics Part 2

Forward and Inverse Kinematics Part 3

Denavit-Hartenberg Convention.pdf