Vizzy Denavit–Hartenberg parameters

Head center
Link	alpha	R	theta	D
0	Pi/2	0	0	0	virtual link
1	Pi/2	0	0	0	M0 → M1
2	Pi/2	0	0	-370	M1 → M2
3	Pi	132.21	0	0	M2 → M3

Left eye Link alpha R theta D 1 Pi/2 0 0 0 virtual link 1 Pi/2 0 0 0 M0 → M1 2 Pi/2 0 0 -370 M1 → M2 3 Pi 132.21 0 0 M2 → M3 4 -Pi/2 0 111 0 M3 → M5

Right eye Link alpha R theta D 0 Pi/2 0 0 0 virtual link 1 Pi/2 0 0 0 M0 → M1 2 Pi/2 0 0 -370 M1 → M2 3 Pi 132.21 0 0 M2 → M3 4 -Pi/2 0 -111 0 M3 → M4

Right arm Link alpha R theta D 0 Pi/2 0 0 0 virtual link 1 -Pi/2 0 0 -0.0805 M0 → M0R 2 -Pi/2 0 0 0.212 M0R → M1R 3 Pi/2 0 0 0.10256 M1R → M2R 4 -Pi/2 0 0 0 M2R → M3R 5 -Pi/2 0 0 0.16296 M3R → M4R 6 Pi/2 0 0 0 M4R → M5R 7 Pi/2 0 0 0.18925 M5R → M6R 8 Pi/2 0 0 0 M6R → M7R 9 -Pi/2 -0.1 0 0 M7R → End-effector

Left arm Link alpha R theta D 0 Pi/2 0 0 0 virtual link 1 Pi/2 0 0 0.0805 M0 → M0L 2 -Pi/2 0 0 -0.212 M0L → M1L 3 Pi/2 0 0 0.10256 M1L → M2L 4 -Pi/2 0 0 0 M2L → M3L 5 -Pi/2 0 0 -0.16296 M3L → M4L 6 Pi/2 0 0 0 M4L → M5L 7 Pi/2 0 0 -0.18925 M5L → M6L 8 Pi/2 0 0 0 M6L → M7L 9 -Pi/2 -0.1 0 0 M7L → End-effector