# DH Parameters with offset base

I'm looking at a pan tilt (RR) system. I want to define the kinematics between a world frame and the end effector. Every example I've seen looks at the world frame as being at the first joint (the zero frame). Can DH parameters be used with an offset base? My initial thought is yes, and that you define your world frame, your base frame, and your joint frames.Then there is an extra T matrix, but that one doesn't change since the transformation between your world frame and the fixed base frame is fixed. Thanks

You could of course just treat the base as a joint that you just never actuate ($\theta =0$).