Human_Hand_manipulator.m

clc
clear all
% defining parameters of DH table
a = [0 50 25 25];% link lengths
al = [-pi/2 0 0 0];% twist between links
d = [0 0 0 0];%offset
theeta = [0 -pi/4 -pi/4 -0];%angle between links
% Storing angles( both coordinates)for each link in an array
c1 = [cosd(theeta(1)) cosd(theeta(2)) cosd(theeta(3)) cosd(theeta(4)) ];
s1 = [sind(theeta(1)) sind(theeta(2)) sind(theeta(3)) sind(theeta(4))  ];
c2 = [cosd(al(1)) cosd(al(2)) cosd(al(3)) cosd(al(4)) ];
s2 = [sind(al(1)) sind(al(2)) sind(al(3))  sind(al(4))];
%TRANSFORMATION MATRICES
T1 = [c1(1) -s1(1)*c2(1) s1(1)*s2(1) a(1)*c1(1); s1(1) c1(1) -c1(1)*s2(1) a(1)*s1(1); 0 s2(1) c2(1) d(1); 0 0 0 1];
T2 = [c1(2) -s1(2)*c2(2) s1(2)*s2(2) a(2)*c1(2); s1(2) c1(2) -c1(2)*s2(2) a(2)*s1(2); 0 s2(2) c2(2) d(2);0 0 0 1];
T3 = [c1(3) -s1(3)*c2(3) s1(3)*s2(3) a(3)*c1(3);s1(3) c1(3) -c1(3)*s2(3) a(3)*s1(3);0 s2(3) c2(3) d(3);0 0 0 1];
T4 = [c1(4) -s1(4)*c2(4) s1(4)*s2(4) a(4)*c1(4);s1(4) c1(4) -c1(4)*s2(4) a(4)*s1(4);0 s2(4) c2(4) d(4);0 0 0 1];
Total = T1*T2*T3*T4
L(1) = Link([theeta(1) d(1) a(1) al(1)]);
L(2) = Link([theeta(2) d(2) a(2) al(2)]);
L(3) = Link([theeta(3) d(3) a(3) al(3)]);
L(4) = Link([theeta(4) d(4) a(4) al(4)]);
F1 = SerialLink(L)
F1.name='Finger1';

%F1.fkine([theeta(1) theeta(2) theeta(3) theeta(4)])

F1.plot([pi,-pi/2,-pi/4,-pi/2])