Implementation of the Denavit-Hartenberg (DH) parameters in MATLAB

Simple and straight-forward implementation of DH-parameters in MATLAB.

Simple and straight-forward implementation of DH-parameters in MATLAB
This can be used to execute forward kinematics of the robot to find position and orientation of every link of the robot.
There are two different conventions on implementation of DH-parameters. This one uses the standard DH parameters which can as well be found in this book: https://www.cs.duke.edu/brd/Teaching/Bio/asmb/current/Papers/chap3-forward-kinematics.pdf. The results have been validated with Peter Corke's RVC toolbox (https://github.com/petercorke/robotics-toolbox-matlab).
cgr prefix means the code is code-generation ready.
ncgr means the code is NOT code-generation ready.

Features:

Forward kinematics
Homogenous transformation of each link of the robot
Numerical jacobian
Simple visualization, it can also be animated
Inverse kinematics with the pseudo-inverse method and damped least square method.
Code generation ready.