clc
close all
syms d1 d2 d3 ;
syms L1 L2 L3;
syms('theta1','theta2','theta3','L1','L2','L3','m1','m2','m3','theta1p','theta2p','theta3p','theta1pp','theta2pp','theta3pp');
% theta NO ROTACIONALES
theta_1=0;
theta_2=0;
theta_3=0;
% Valores de los di
d1=d1;
d2=d2;
d3=0;
% Valores de los ai
a1=0;
a2=0;
a3=L3;
% Valores de las alfa_i
alfa1=90;
alfa2=0;
alfa3=0;
% DH NO ROTACIONALES
A01=[ (cosd(theta_1)) -cosd(alfa1)*(sind(theta_1)) sind(alfa1)*(sind(theta_1)) a1*(cosd(theta_1))
(sind(theta_1)) cosd(alfa1)*(cosd(theta_1)) -sind(alfa1)*(cosd(theta_1)) a1*(sind(theta_1))
0 sind(alfa1) cosd(alfa1) d1
0 0 0 1 ]
A12=[ (cosd(theta_2)) -cosd(alfa2)*sind(theta_2) sind(alfa2)*sind(theta_2) a2*cosd(theta_2)
sind(theta_2) cosd(alfa2)*cosd(theta_2) -sind(alfa2)*cosd(theta_2) a2*sind(theta_2)
0 sind(alfa2) cosd(alfa2) d2
0 0 0 1 ]
A23=[ cosd(theta_3) -cosd(alfa3)*sind(theta_3) sind(alfa3)*sind(theta_3) a3*cosd(theta_3) ;
sind(theta_3) cosd(alfa3)*cosd(theta_3) -sind(alfa3)*cosd(theta_3) a3*sind(theta_3) ;
0 sind(alfa3) cosd(alfa3) d3 ;
0 0 0 1 ];
% % Matrices DH ROTACIONAL
%
%
% A01=[ (cos(theta1)) -cosd(alfa1)*(sin(theta1)) sind(alfa1)*(sin(theta1)) a1*(cos(theta1))
% (sin(theta1)) cosd(alfa1)*(cos(theta1)) -sind(alfa1)*(cos(theta1)) a1*(sin(theta1))
% 0 sind(alfa1) cosd(alfa1) d1
% 0 0 0 1 ]
%
%
% A12=[ (cos(theta2)) -cosd(alfa2)*sin(theta2) sind(alfa2)*sin(theta2) a2*cos(theta2)
% sin(theta2) cosd(alfa2)*cos(theta2) -sind(alfa2)*cos(theta2) a2*sin(theta2)
% 0 sind(alfa2) cosd(alfa2) d2
% 0 0 0 1 ]
%
% A23=[ cos(theta3) -cosd(alfa3)*sin(theta3) sind(alfa3)*sin(theta3) a3*cos(theta3)
% sin(theta3) cosd(alfa3)*cos(theta3) -sind(alfa3)*cos(theta3) a3*sin(theta3)
% 0 sind(alfa3) cosd(alfa3) d3
% 0 0 0 1 ]
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