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9 lines
467 B
9 lines
467 B
% Calculation of joint transformation matrix DH-convention
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function [ T ] = DHjT( teta, a, alpha, d )
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T = [cos(teta), -sin(teta)*cos(alpha), sin(teta)*sin(alpha), a*cos(teta); ...
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sin(teta), cos(teta)*cos(alpha), -cos(teta)*sin(alpha), a*sin(teta) ; ...
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0 , sin(alpha) , cos(alpha) , d ; ...
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0 , 0 , 0 , 1 ];
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end
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