Robot ABB IRB 120 Modified Denavit Hartenberg Parameters in Delphi and OpenGL Object Oriented Pascal

Here I used the Modified Denavit Hartenberg Parameters to test my code, soon I will be able to write letters, so I will do my first "Hello World" using this Robot.
Parametros Denavit Hartenberg.
Inside the Constructor:

constructor TABB120_STL.Create;
begin
inherited Create(6); //from TRobot
// ABB IRB-120 MDH dh, jt, it, id, ia, ial, it_off
AddLink(0, Tlink.Create(False, 0, 0, 290, 0, 0, 0));
AddLink(1, Tlink.Create(False, 0, 0, 0, 0, -pi/2, -pi/2));
AddLink(2, Tlink.Create(False, 0, 0, 0, 270, 0, 0));
AddLink(3, Tlink.Create(False, 0, 0, 302, 70, -pi/2, 0));
AddLink(4, Tlink.Create(False, 0, 0, 0, 0, pi/2, 0));
AddLink(5, Tlink.Create(False, 0, 0, 72, 0, -pi/2, pi));
....
end;

I used MtxVec 1.14 from DewResearch

[paulooliveira]

Muito Bom poderia disponibilizar este exemplo com o código fonte