MATLAB: Denavit Hartenberg parameters

Individual Links can be configured using the class Link of the Robotics Toolbox. For a revolute joint, the parameter $\theta$ is dynamic. So only the three other parameters have to be configured in the following way:

$L = Link(\text{'d'}, v_d, \text{'a'}, v_a, \text{'alpha'}, v_{al})$

For a prismatic joint, respectively, the parameter $d$ is dynamic and is not to be set:

$L = Link(\text{'theta'}, v_t, \text{'a'}, v_a, \text{'alpha'}, v_{al})$

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:

The corresponding serial link is then created using the class SerialLink and passing the existing links in form of a vector as parameter: