How do i create a transformation matrix using function?

Question

Madhav rijal 2021-1-21

0
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https://ww2.mathworks.cn/matlabcentral/answers/722753-how-do-i-create-a-transformation-matrix-using-function

回答： Mahesh Taparia 2021-1-27

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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Answer 1

Mahesh Taparia 2021-1-27

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https://ww2.mathworks.cn/matlabcentral/answers/722753-how-do-i-create-a-transformation-matrix-using-function#answer_607563

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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