The manipulator_main.m scripts (in the scripts folder) computes and plot the forward kinematics (defined in FwdKin.m) from the Devanit-Hartenberg (DH) parameters of the manipulator.
The kinematic table for the conventional DH parameterization is found on page 204 of the Kinova-Gen-3_User-Guide and the corresponding frame definitions are found on page 205 and shown below:
The modified DH frame definitions are shown below:
