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Below is my code. All values of theta, d, a and alpha are known. How should I define T00, T01, and so on?

function [T] = dhtransform(theta, d, a, alpha)

T = [cosd(theta) -sind(theta) * cosd(alpha) sind(theta) * sind(alpha) a * cosd(theta); sind(theta) cosd(theta) * cosd(alpha) -cosd(theta) * sind(alpha) a * sind(theta); 0,sind(alpha),cosd(alpha),d; 0,0,0,1];

end

T00 = [1 0 0 0; 0 1 0 0; 0 0 1 0; 0 0 0 1]; T01 = dhtransform(30, 10.25, 0, 90 ); T12 = dhtransform(45, 0, 9, 0); T23 = dhtransform(-90,0, 9, 0); T34 = dhtransform(45,0, 0, 90); T45 = dhtransform(60, 6.25, 0, 0);

Endeffector = T00 * T01 * T12 * T23 * T34 * T45;

end

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