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【代码】标准DH坐标系，改进DH坐标系转换矩阵matlab函数代码2.0。

1.标准DH坐标系function tf_standard=stdh(a ,ar, d ,th)r11=cos(th);r12=-sin(th)*cos(ar);r13=sin(th)*sin(ar);r14=a*cos(th);r21=sin(th);r22=cos(th)*cos(ar);r23=-cos(th)*sin(ar);r24=sin(th)*a;r31=0;r32=sin(ar);r33=cos(ar);r34=d;r41=0;r42=0;r43=0;r4