% sets up DH parameters for 4 DOF SCARA robot

%

%    link    alpha    a      theta     d      type

%      1       0      3       var      0      rev

%      2      180     2       var      0      rev

%      3       0      0       var      0      rev

%      4       0      0        0       1      prism

%

% Note that joint 3 rotates opposite to joint 2 and

% positive extension of the prismatic joint is downward.

%

% The world origin is taken at joint 1.



dh = [0  3 0 0 0

      pi 2 0 0 0

      0  0 0 0 0

      0  0 0 1 1];





