MATLAB: Homogenous Transformations

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Creating a MATLAB script to compute homogenous transformations and DH parametrisation for a 3-DOF manipulator

Jamie Ashton

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Script v1: Computing Homogenous Transformations and End-Effector Position
04/05/2025 at 15:10 • 0 comments

The script:

Example Output:
This script allows for successful calculation of homogenous transformations between each link at three different specified times, and allows the user to input 3 DH parameters. This script satisfies the requirements of my lab report. Next steps would be to allow the user to input all DH parameters and find end-effector positions at specific times.