I am implementing a Denavit-Hartenberg forward transform for a 3-axes CNC mill. I know that the kinematic for such a machine is trivial and doesn't need DH, but I need to make appliable for other robots too. My implementation does the math correctly(I've verified that with another tool), but the transformation doesn't give me the results I would expect.
I assume that for 3-axes cartesian robot with orthogonal prismatic joints(=CNC mill) the resulting transformation matrix should give me the input parameters(d1-d3) back in its translation vector, but it somehow doesn't. Also, the resulting orientation matrix should have some "nice" values(90, 180, 270, etc.) and no odd ones(0.0528, 0.5987, etc,.). Is my assumption wrong?