Kinematics Equations Maker

This toolbox creates the kinematic equations of any serial robot using DH parameters.

This toolbox makes the kinematic equations of any serial robot using DH (Denavit–Hartenberg) parameters. Actually it creates and stores a function in the current directory whose inputs are the joint variables (vector u) and structural
variable (vector v). The output of the generated function is [Q,P]. Q is the rotation matrix and P is the location of the end-effector of the robot with respect to the origin frame.
The user needs to run this file and enter two inputs:
1- what is the name of the robot? which should be entered as string. Examples: for a serial manipulator with two
revolute joints in series => 'RR' for a manipulator having Revolute-Prismatic-Revolute joints in the chain =>'RPR'.
2- a vector showing the order of the joints. For example, for 'RR' the vector is [1, 1] and for 'RPR' the
vector is [1, 0, 1].
It is noteworthy that a homogeneous transformation is added to connects the origin to the base of the robot. If the base is located on the origin then the parameters of this transformation should be zero:
a0=0; alp0=0; b0=0; t0=0;
Also d and ph are two paramteres related to the last transformation from the last link to the position of the end-effector which could have zero values as well (ph=0, d=0) if the end-effector is
on the last link. The following figure illustrates the afforementioned points better:
https://drive.google.com/file/d/0B4AVR3vrx7i3SlNaSE92RjhHNDg/view?usp=sharing
Symbolic simplification is used in this package. Therefore, for robots more than 5 joints, more time is needed for the toolbopx to generate the file as the kinematic equations get longer and harder to simplify.