clc;
clear;
d0=0.847;%;1.009
%q1(1,1)=[0.071; 0.128; 0.128; 0.171];
syms q1 d2 q3 pi;
%alpha1,a1 ,q1, d1,
Ab_10=D_H_boom(0,0,q1,0);% 0 0 theta1 0
Ab_21=D_H_boom(pi/2,0,0,d2);% pi/2 0 0 d2
Ab_32=D_H_boom(-pi/2,0,q3,0);% -pi/2 0 theta3 -3
Azong=Ab_10*Ab_21*Ab_32
function [A]=D_H_boom(alpha,a,q,d) % 0,0,q1,0 -pi/2,0,0,d2 pi/2,0,q3,0
%计算改进D_H矩阵
A=[ cos(q), -sin(q), 0, a;
sin(q)*cos(alpha), cos(q) * cos(alpha), -sin(alpha), -sin(alpha)*d;
sin(q) * sin(alpha), cos(q) * sin(alpha), cos(alpha),cos(alpha)*d;
0 ,0 , 0 ,1];
end