%DHTRANS Denavit-Hartenberg transformation % takes the four Denavit-Hartenberg link parameters and constructs a % transformation matrix representing the coordinate frame at the end of the link % % Syntax: T = DHtrans(theta, offset, length, twist) % % Inputs: % theta - angle between the links % offset - link offset % length - link length % twist - twist angle % % Outputs: % T - Denavit-Hartenberg transformation matrix % % Other m-files required: rotx.m, rotx.m, trans.m % % See also: ROTX, ROTZ, TRANS % Author: Travis Hydzik % Last revision: 19 October 2004 function T = DHtrans(theta, offset, length, twist) T = rotz(theta)*trans(0,0,offset)*trans(length,0,0)*rotx(twist);