MATLAB: Denavit Hartenberg parameters
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Individual Links can be configured using the class Link of the Robotics Toolbox. Five parameters have to be set as a vector. The first four are 
, 
, 
and 
. For a revolute joint, the last parameter has to be set to 
, for a prismatic joint to 
.
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:
