%Script fksym.m			FORWARD KINEMATICS
%
%	example for dhrow = 6
%	A66 = A6
%	A56 = symmul(A5,A6)
%	A46 = symmul(A4,A56)
%	A36 = symmul(A3,A46)
%	A26 = symmul(A2,A36)
%	A16 = symmul(A1,A26) = Transform T6
%

eval(['A' num2str(dhrow) num2str(dhrow) '=A' num2str(dhrow)])
for i=dhrow-1:-1:1
	eval(['A' num2str(i) num2str(dhrow) '=simple(symmul(A' num2str(i) ',A' num2str(i+1) num2str(dhrow) '))'])
end
