MATLAB Command Window Page 1

>> syms

'A1' 'A2' 'A3' 'd1' 'd2' 'l1' 'l2' 'l3' 'q1'

>> A1

A1 =

[ 1, 0, 0, 0]
[ 0, 0, 1, 0]
[ 0, -1, 0, d1]
[ 0, 0, 0, 1]

>> A2

A2 =

[ cos(q1), 0, -sin(q1), l2*cos(q1)]

[ sin(q1), 0, cos(q1), l2*sin(q1)]
[ 0, -1, 0, l1 + l3]
[ 0, 0, 0, 1]

>> A3

A3 =

[ 1, 0, 0, 0]
[ 0, 1, 0, 0]
[ 0, 0, 1, d2]
[ 0, 0, 0, 1]

>> A12=A1*A2

A12 =

[ cos(q1), 0, -sin(q1), l2*cos(q1)]

[ 0, -1, 0, l1 + l3]
[ -sin(q1), 0, -cos(q1), d1 - l2*sin(q1)]
[ 0, 0, 0, 1]

>> A123=A12*A3

A123 =

[ cos(q1), 0, -sin(q1), l2*cos(q1) - d2*sin(q1)]

[ 0, -1, 0, l1 + l3]
[ -sin(q1), 0, -cos(q1), d1 - d2*cos(q1) - l2*sin(q1)]
[ 0, 0, 0, 1]

>>