diff --git a/robot_modeling/DQ_SerialManipulator.m b/robot_modeling/DQ_SerialManipulator.m
index 7b4b5ce5..0d73773b 100644
--- a/robot_modeling/DQ_SerialManipulator.m
+++ b/robot_modeling/DQ_SerialManipulator.m
@@ -86,6 +86,11 @@
         st = get_supported_joint_types();
      end
 
+     methods (Abstract)
+         % This method returns the corresponding dual quaternion for a given link's parameters.
+         get_link_transformation(q, ith);
+     end
+
      methods (Access = protected)  
          function check_joint_types(obj)
             %  CHECK_JOINT_TYPES() throws an exception if the joint types
diff --git a/robot_modeling/DQ_SerialManipulatorDH.m b/robot_modeling/DQ_SerialManipulatorDH.m
index e63db4b0..3b361cb3 100644
--- a/robot_modeling/DQ_SerialManipulatorDH.m
+++ b/robot_modeling/DQ_SerialManipulatorDH.m
@@ -203,6 +203,22 @@
             obj.set_joint_types(A(5,:));
         end
 
+        function x = get_link_transformation(obj, q, ith)
+            %   This method exposes the protected method get_link2dq(),
+            %   which calculates  the corresponding dual quaternion for a
+            %   given link's DH parameters.
+            % Usage:
+            %     get_link_transformation(q, ith)
+            %          q: The joint value.
+            %          ith: The link number.
+            %
+            % Example: 
+            %      robot = KukaLwr4Robot.kinematics();
+            %      x = robot.get_link_transformation(pi/2, 3);
+
+            x = get_link2dq(obj, q, ith);
+        end
+
         function ret = get_parameters(obj, parameterType)
             % This method returns a vector containing the DH parameters.
             % Usage: get_parameters(parameterType)
diff --git a/robot_modeling/DQ_SerialManipulatorMDH.m b/robot_modeling/DQ_SerialManipulatorMDH.m
index ddcac174..b4663e31 100644
--- a/robot_modeling/DQ_SerialManipulatorMDH.m
+++ b/robot_modeling/DQ_SerialManipulatorMDH.m
@@ -198,6 +198,22 @@
             obj.set_joint_types(A(5,:));
         end
 
+        function x = get_link_transformation(obj, q, ith)
+            %   This method exposes the protected method get_link2dq(),
+            %   which calculates  the corresponding dual quaternion for a
+            %   given link's MDH parameters.
+            % Usage:
+            %     get_link_transformation(q, ith)
+            %          q: The joint value.
+            %          ith: The link number.
+            %
+            % Example: 
+            %      robot = ComauSmartSixRobot.kinematics();
+            %      x = robot.get_link_transformation(pi/2, 3);
+
+            x = get_link2dq(obj, q, ith);
+        end
+
         function ret = get_parameters(obj, parameterType)
             % This method returns a vector containing the DH parameters.
             % Usage: get_parameters(parameterType)