I want to use a matrix and a function to then create another function

I currently have a matrix that has known values that I then want to use to create a second matrix using a function loop. The matrix within the function loop has four variables that coincide with the variables from the above matrix DH. How do I use each row of the DH matrix to be a value to then insert into the Ai matrix? (Colum 1 = theta, Column 2 = d, etc.) I need this to then output 6 different matrices A1,A2,etc.

clear

clc

close all

theta1 = -50;

theta2 = 30;

theta3 = 15;

theta4 = -75;

theta5 = -45;

theta6 = -60;

DH = [theta1, 486.5, 150, -90;...

theta2+90, 0, -700, 0;...

theta3, 0, 0, 90;...

theta4, 600, 0, -90;...

theta5, 0, 0, 90;...

theta6, 65, 0, 0];

function Ai = getHomogeneousTransform(theta, d, a, alpha)

Ai = [cos(theata), -sin(theta)*cos(theta), 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

[Stephen23]

"How do I use each row of the DH matrix to be a value to then insert into the Ai matrix?"

Use a loop and indexing.

"I need this to then output 6 different matrices A1,A2,etc."

Numbering variable names like that forces you into writing slow, complex, inefficient, buggy code. Best avoided.

The simple and very efficient approach is to use indexing. You should use indexing.

Answer 1

[Torsten]

theta1 = -50;
theta2 = 30;
theta3 = 15;
theta4 = -75;
theta5 = -45;
theta6 = -60;

DH  = [theta1, 486.5, 150, -90;...
    theta2+90, 0, -700, 0;...
    theta3, 0, 0, 90;...
    theta4, 600, 0, -90;...
    theta5, 0, 0, 90;...
    theta6, 65, 0, 0];

A = cell(size(DH,1),1);
for i = 1:size(DH,1)
  A{i} = getHomogeneousTransform(DH(i,1)*pi/180, DH(i,2), DH(i,3), DH(i,4)*pi/180);
  A{i}
end

ans = 4×4

0.6428 0.4924 0.7660 96.4181 -0.7660 0.0000 0.6428 -114.9067 0 -1.0000 0.0000 486.5000 0 0 0 1.0000

ans = 4×4

-0.5000 0.4330 0 350.0000 0.8660 -0.5000 0 -606.2178 0 0 1.0000 0 0 0 0 1.0000

ans = 4×4

0.9659 -0.2500 0.2588 0 0.2588 0.0000 -0.9659 0 0 1.0000 0.0000 0 0 0 0 1.0000

ans = 4×4

0.2588 0.2500 0.9659 0 -0.9659 0.0000 0.2588 0 0 -1.0000 0.0000 600.0000 0 0 0 1.0000

ans = 4×4

0.7071 0.5000 -0.7071 0 -0.7071 0.0000 -0.7071 0 0 1.0000 0.0000 0 0 0 0 1.0000

ans = 4×4

0.5000 0.4330 0 0 -0.8660 0.5000 0 0 0 0 1.0000 65.0000 0 0 0 1.0000

function Ai = getHomogeneousTransform(theta, d, a, alpha)
 Ai = [cos(theta),-sin(theta)*cos(theta),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