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I am trying to find the joint angles or at least theta to be used to find the Denavit-Hartenberg Parameter for a robotic arm (Baxter's right arm). I have the link lengths and such, but I don't know how to find theta using the link lengths or anything. Help with anything would be appreciated.

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Since that arm is redundant, there are an infinite number of solutions for the inverse kinematics. Fortunately, Dr. Williams at Ohio U has developed the forward and inverse kinematics for this arm here. He describes the complete forward kinematics, and the inverse kinematics two ways: once for the case where $\theta_3$ is fixed at zero degrees, and again using a numerical approach to resolve the redundant system.

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