Computes the Denavit-Hartenberg transformation matrix for the specified DH parameters.
| Type | Intent | Optional | Attributes | Name | ||
|---|---|---|---|---|---|---|
| real(kind=real64), | intent(in) | :: | alpha |
The link twist angle, in radians. This angle is the required rotation of the z(i-1) axis about the link's x-axis to become parallel with the link's z-axis. |
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| real(kind=real64), | intent(in) | :: | a |
The link length as measured along the link's x-axis. |
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| real(kind=real64), | intent(in) | :: | theta |
The joint angle, in radians. This angle is the required rotation of the z(i-1) axis about the z(i-1) axis to become parallel with the link's x-axis. |
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| real(kind=real64), | intent(in) | :: | d |
The joint offset distance measured as the distance between the x(i-1) axis and the link's x-axis along the z(i-1) axis. |
The resulting 4-by-4 transformation matrix.