Design-of-Robotic-Arm-using-MATLAB

A robotic arm with RRRPRR configuration(6 degrees of freedom) .Denavit Hartenberg matrices are used for movement.Newton-Raphson method used for solving Inverse Kinematics. Run function robo.m Input is 4x4 Matrix [T(0,0,0) [x;y;z];0 0 0 1]; where function T(theta1,theta2,theta3) Returns a 3x3 rotation matrix. theta1=rotation about x-axis in radians theta2=rotation about y-axis in radians theta3=rotation about z-axis in radians This gives orientation of end effector [x;y;z] are coordinates of end effector e.g. robo([T(0,0,0) [0;0;10];0 0 0 1]) and it will show a arm in this position in MATLAB figure if possible ,else will get very close to it