This is a Demonstration of traditional forward kinematics. In order to get the global position of any particular point, take the dot product of all the matrices up to the frame of the point in question, as well as the local coordinates.
This Demonstration was inspired by Professor Oussama Khatib's Introduction to Robotics Course, available free online through Stanford's Engineering Everywhere.
Wolfram Demonstrations Project
Published: March 7 2011