How do i create a transformation matrix using function?

2021 1 21
1 个回答
更新时间：2021 1 27
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clear
function t=dh(a,alpha,d,th)
t= [cos(th) -sin(th) 0 a;
sin(th)*cos(alpha) cos(th)*cos(alpha) -sin(alpha) -sin(alpha)*d;
sin(th)*sin(alpha) cos(th)*sin(alpha) cos(alpha) cos(alpha)*d;
0 0 0 1]
end
dh1=dh(10,0,0,pi/4);
I want to create this transformation function which accepts 4 paramters and gives T matrix as output.Pls help.

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回答（1 个）

Mahesh Taparia
Mahesh Taparia 2021-1-27

0 个投票

Hi
The function definition in a script is defined at the end of the file or in a separate file. So the below code will work:
clear
dh1=dh(10,0,0,pi/4);
function t=dh(a,alpha,d,th)
t= [cos(th) -sin(th) 0 a;
sin(th)*cos(alpha) cos(th)*cos(alpha) -sin(alpha) -sin(alpha)*d;
sin(th)*sin(alpha) cos(th)*sin(alpha) cos(alpha) cos(alpha)*d;
0 0 0 1]
end

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