This graphical application allows creating models of robotic manipulators by introducing the corresponding Denavit-Hartenberg (DH) parameters. It is a useful tool for teaching and learning the basics of robotic arm kinematics. As the rest of MRPT applications, it is included in source and binary packages in the download page.
The main C++ class behind this app is mrpt::kinematics::CKinematicChain
2. Video tutorials
This video demonstrates the program in action and explains the meaning of the DH parameters:
And this is another version with subtitles in Spanish: