compute_dh_matrix.m

function A = compute_dh_matrix(r, alpha, d, theta)    
    A = eye(4);
    A = [cos(theta) -sin(theta)*cos(alpha) sin(theta)*sin(alpha) r*cos(theta);...
        sin(theta) cos(theta)*cos(alpha) -cos(theta)*sin(alpha) r*sin(theta);...
        0 sin(alpha) cos(alpha)  d;...
        0 0 0 1] ;
end