Run the following. It is exactly what you want:
iteration = 0;
T0n = eye(4);
links = input ('Introduce number of links ');
while iteration<links
iteration=iteration+1;
teta=sym(input('teta value\n','s'));
a=sym(input('a value\n','s'));
d=sym(input('d value\n','s'));
alpha=input('alpha value ');
A=[cos(teta), -cos(alpha)*sin(teta), sin(alpha)*sin(teta), a*cos(teta);
sin(teta), cos(alpha)*cos(teta), -sin(alpha)*cos(teta), a*sin(teta);
0, sin(alpha), cos(alpha), d;
0, 0, 0, 1];
T0n=T0n*A
end
Best Answer