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DrewRobert/fwkin.m

Created September 19, 2018 21:45
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Homework 3 fwkin
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fwkin.m
function [transMat] = fwkin(theta,d,a,alpha)
transMat = [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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