Checking with the DH guidelines.

- Check the coordinate frames that you assigned against the DH guidelines.
- Check the structural kinematic parameters you determined against the DH guidelines.
- Every row in the structural kinematic parameters table should have one variable while
   the other three columns should have an exact numerical value.

Transformation matrices.

- Write down your transformation matrices.  Every matrix should have a variable
   representing the joint angle/position.

Assuming joint angles/positions and drawing the manipulator.

- Assume values for your joint angles/positions.
- Draw the RVM1 robot manipulator (preferably in 3D, on the global xyz axes) using the
   assumed values for the joint angles/positions.  Needless to say, the assumed values for
   the joint angles/positions have a great impact on the ease you will be able to draw the
   manipulator.
- Locate the end-effector position.  This means you should come up with the exact coordinate of the end-effector.

Computing the transformation matrices and end-effector position.

- Plug in your assumed joint angles/positions into the transformation matrices.
- Determine the end-effector position using the transformation matrices.  This involves
   multiplying the transformation matrices and [0 0 0 1]' together.  Check your handouts.

Comparing results.

- Check if the coordinates extracted from the drawing is the same as the one computed
   from the transformation matrices.
- If they are the same, you more or less have the correct coordinate frames and structural kinematic parameters.
  Assume another  set of joint angles/positions and go through the check again.
- If they are NOT the same, you have a problem somewhere.
  Start by checking your coordinate frames and structural kinematic parameters.