This is a model of a 3 degree of freedom planar manipulator. This model helps visualize the manipulator's motion and each link's Denavit-Hartenberg coordinate system. Also, this model helps visualize the intermediate coordinate systems that result from each successive rotation and translation of the (i-1)th coordinate system by the joint variables and  link parameters that lead to the ith coordinate system. The simulation outputs the x, y and z components of the position of the origin of the hand coordinate system with respect to the base coordinate system.