Hi,
As per my understanding, you are trying to build a manipulator robot using DH Parameters.
You can use the "rigidBodyTree" object in MATLAB to do the same. Once you have the DH Parameters as a matrix, you can create a "rigidBodyTree" object and specify its joint transformations using DH Parameters. The following example illustrates how to do that:
% Assuming DH Parameters as available as matrix, under variable dhparams
% Initialize the Rigid Body Tree Object
robot = rigidBodyTree;
% Iterate over the DH Parameters and create the joints
bodies = cell(6,1);
joints = cell(6,1);
for i = 1:6
bodies{i} = rigidBody(['body' num2str(i)]);
joints{i} = rigidBodyJoint(['jnt' num2str(i)],"revolute");
setFixedTransform(joints{i},dhparams(i,:),"dh");
bodies{i}.Joint = joints{i};
if i == 1 % Add first body to base
addBody(robot,bodies{i},"base")
else % Add current body to previous body by name
addBody(robot,bodies{i},bodies{i-1}.Name)
end
end
% Verify the robot by plotting
show(robot);
Please refer to the following documentation for more information on creating manipulator robots using DH Parameters:
Other than this, you can also load pre-existing robots present in MATLAB, using the following documentation:
