I need to write a Mathematica module to get a 4*4 transformation matrix given the Denavit-Hartenberg parameters of the manipulator. How do I go about it?


Here is direct implementation as given in:

Reference: Denavit Hartenberg_parameters

dhTransformation[theta_, d_, r_, alpha_] := {
   {Cos[theta], -Sin[theta] Cos[alpha], Sin[theta] Sin[alpha], r Cos[theta]}, 
   {Sin[theta], Cos[theta] Cos[alpha], -Cos[theta] Sin[alpha], r Sin[theta]}, 
   {0, Sin[alpha], Cos[alpha], d}, 
   {0, 0, 0, 1}}

Mathematica graphics

  • $\begingroup$ Thnaks for the answer $\endgroup$ – Akshay Katpatal Jun 22 '17 at 10:10

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