DH Parameter Model with MATLAB Symbolic Function Implementation

In this article, we present a method using MATLAB's symbolic function capability to obtain DH (Denavit-Hartenberg) matrix function code through either manual input of symbolic DH parameter matrices or Excel file importation of DH parameter tables. This approach not only enables users to derive DH matrices but also facilitates subsequent calculation of required transformation matrices in MATLAB. Users can substitute specific numerical values into the obtained transformation matrices to compute concrete DH matrix values. The implementation involves key MATLAB functions like sym for symbolic variable declaration and matrix operations for concatenating transformation matrices. This method proves valuable for robotics kinematics research and control, providing a convenient and reliable approach to derive DH matrices and subsequently establish robot kinematic equations. Furthermore, the code structure allows modifications and extensions to accommodate diverse research requirements and application scenarios, with potential enhancements including automated parameter validation and custom transformation chain processing.