given code takes the number of robot's arms as well as other parameters such as alpha,a,theta and d which can be either symbol or a value.
output is:
homogeneous transformation matrices
DH parameters
rotation matrix
translations matrix
인용 양식
Mahmoud KhoshGoftar (2024). Denavit Hartenberg Parameters (https://www.mathworks.com/matlabcentral/fileexchange/44585-denavit-hartenberg-parameters), MATLAB Central File Exchange. 검색됨 .
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R2013a
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