chapter1.tex

\chapter{Introduction}
\label{chap:Intro}

  Start your \LaTeX ~ thesis here. Cite Equations \eqref{eq:1}, Figures \ref{fig:uoit}, Tables \ref{tab:dh} and Chapters/Sections like Chapter \ref{chap:Chap2}.
  Don't forget to give credit \cite{oldThesis}.
  Use abbreviations like this \gls{dof}.

  \begin{equation}
    \label{eq:1}
    r_{c1} = \frac{2r^2(1-\cos\theta_x)-h^2_{xx}}{2r(\cos\theta_x-1)}
  \end{equation}

  \begin{figure}
    \centering
    \includegraphics{figUOIT}
    \caption{This UOIT logo.}
  \label{fig:uoit}
  \end{figure}

  \begin{table}[h]
  \centering
  \caption{Modified Denavit-Hartenberg Parameters}
    \begin{tabular}{cccccc}
      \toprule
      $F_{i-1}$ & $a_{i-1}$ & $\alpha_{i-1}$ & $d_i$ & $\theta_i$ & $F_i$ \\
      \midrule
      0 & 0 & 0 & $l_1$ & $\theta_1$ & 1 \\
      1 & 0 & $\pi/2$ & 0 & $\theta_2$ & 2 \\
      2 & $l_2$ & 0 & 0 & $\theta_3$ & 3 \\
      3 & $l_3$ & 0 & 0 & $\theta_4$ & 4 \\
      4 & $l_4$ & 0 & 0 & 0 & G \\
      \bottomrule
    \end{tabular}
  \label{tab:dh}
  \end{table}

  \section{Section}
  \label{sec:Section}

    \subsection{Subsection}
    \label{sec:subsection}