www.pudn.com > RobotToolbox.rar > dh.m

%DH Matrix representation of manipulator kinematics
%
% The original robot toolbox functions used a DH matrix to describes the
% kinematics of a manipulator in a general way.
%
% For an n-axis manipulator, DH is an nx4 or nx5 matrix, whose rows 
% comprise
% 
% 	1	alpha	link twist angle
% 	2	A	link length
% 	3	theta	link rotation angle
% 	4	D	link offset distance
% 	5	sigma	joint type, 0 for revolute, non-zero for prismatic
%
% If the last column is not given the manipulator is all-revolute.
%
% The first 5 columns of a DYN matrix contain the kinematic parameters
% and maybe used anywhere that a DH kinematic matrix is required -- the
% dynamic data is ignored.
%
% The functionality of the DH matrix has been replaced by the ROBOT object.
%
% See also: ROBOT, DYN.

% MOD.HISTORY
% 	1/95	reverse labels on A & D
% $Log: dh.m,v $
% Revision 1.2  2002/04/01 11:47:11  pic
% General cleanup of code: help comments, see also, copyright, remnant dh/dyn
% references, clarification of functions.
%
% $Revision: 1.2 $
% Copyright (C) 1993-2002, by Peter I. Corke