compute the direct kinematics of a 3rrr serial robot in matlab

main.m
% Define DH parameters
a = [1, 1, 1]; % Link lengths of the robot
alpha = [0, 0, 0]; % Twist angles of the robot
d = [0, 0, 0]; % Link offsets of the robot
theta = [0, 0, 0]; % Joint angles of the robot

% Compute the transformation matrices using DH parameters
T01 = dhTransform(a(1), alpha(1), d(1), theta(1));
T12 = dhTransform(a(2), alpha(2), d(2), theta(2));
T23 = dhTransform(a(3), alpha(3), d(3), theta(3));

% Compute the overall transformation matrix from base to end effector
T03 = T01 * T12 * T23;

% Extract position and orientation from the transformation matrix
position = T03(1:3, 4);
orientation = tform2quat(T03);

% Display the results
disp("Position:");
disp(position);
disp("Orientation (quaternion):");
disp(orientation);

% Helper function to compute the transformation matrix using DH parameters
function T = dhTransform(a, alpha, d, theta)
    T = [
        cos(theta), -sin(theta)*cos(alpha), sin(theta)*sin(alpha), a*cos(theta);
        sin(theta), cos(theta)*cos(alpha), -cos(theta)*sin(alpha), a*sin(theta);
        0, sin(alpha), cos(alpha), d;
        0, 0, 0, 1
    ];
end
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