MATLAB: Denavit Hartenberg parameters
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Individual Links can be configured using the class Link of the Robotics Toolbox. For a revolute joint, the parameter is dynamic. So only the three other parameters have to be configured in the following way:
For a prismatic joint, respectively, the parameter is dynamic and is not to be set:
So if a manipulator consisting of one prismatic joint and two revolute joints is to be created, the three links could be configured as follows: