function robot = get_Kinematics(robot, opt)
switch opt.KM_method
    case 'SDH'
    case 'MDH'
        theta = robot.theta;
        alpha = robot.alpha;
        a = robot.a;
        d = robot.d;
        robot.Fkine = eye(4,4);
        ndof = length(theta); % special for MDH
        % init transform matrix
        robot.R = zeros([3,3,ndof]);
        robot.t = zeros([3,1,ndof]);
        robot.T = zeros([4,4,ndof]);
        for i = 1:ndof
            robot.R(:,:,i) = [cos(theta(i)) -sin(theta(i)) 0;...
                sin(theta(i))*cos(alpha(i)) cos(theta(i))*cos(alpha(i)) -sin(alpha(i));...
                sin(theta(i))*sin(alpha(i)) cos(theta(i))*sin(alpha(i)) cos(alpha(i))];
            robot.t(:,:,i) = [a(i);-d(i)*sin(alpha(i));d(i)*cos(alpha(i))];
            Transform = eye(4,4);
            Transform(1:3,1:3) = robot.R(:,:,i);
            Transform(1:3,4) = robot.t(:,:,i);
            robot.T(:,:,i) = Transform;
            robot.Fkine = robot.Fkine*robot.T(:,:,i);
        end
    otherwise
        disp('Bad opt.KM_method!')
        return;
end