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Matlab Program

The function compute_DH_matrices1 calculates the transformation matrices for a robotic arm using Denavit-Hartenberg parameters. It takes six joint angles as input and constructs the transformation matrices based on predefined link lengths and angles. The overall transformation matrix is computed by multiplying individual matrices and displayed at the end.

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9 views

Matlab Program

The function compute_DH_matrices1 calculates the transformation matrices for a robotic arm using Denavit-Hartenberg parameters. It takes six joint angles as input and constructs the transformation matrices based on predefined link lengths and angles. The overall transformation matrix is computed by multiplying individual matrices and displayed at the end.

Uploaded by

t61076447
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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function T = compute_DH_matrices1(theta1, theta2, theta3, theta4,

theta5, theta6)
d = [243.3, 0, 0, 227.6, 0, 61.5];
a = [0, 200, 87, 0, 0, 0];
alpha = [-90, 180, 90, 90, -90, 0];
theta = [theta1, -90 + theta2, -90 + theta3, theta4, theta5, theta6]
alpha = deg2rad(alpha);
theta = deg2rad(theta);
T = eye(4);
for i = 1:6
A_i = [cos(theta(i)), -sin(theta(i)) * cos(alpha(i)), sin(theta(i)) * sin(alpha(i)), a(i) * cos(theta(i));

sin(theta(i)), cos(theta(i)) * cos(alpha(i)), -cos(theta(i)) * sin(alpha(i)), a(i) * sin(theta(i));

0, sin(alpha(i)), cos(alpha(i)), d(i);

0, 0, 0, 1];

fprintf('Transformation matrix A_%d:\n', i);


disp(A_i);
T = T * A_i;
end
disp('Overall transformation matrix T:');
disp(T);
end

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