% Calculation of joint transformation matrix DH-convention

function [ T ] = DHjT( teta, a, alpha, d )
T = [cos(teta), -sin(teta)*cos(alpha), sin(teta)*sin(alpha), a*cos(teta); ...
        sin(teta), cos(teta)*cos(alpha), -cos(teta)*sin(alpha), a*sin(teta) ; ...
        0           , sin(alpha)             , cos(alpha)              , d              ; ...
        0           , 0                       , 0                        , 1                 ];
end