import numpy as np

import matplotlib.pyplot as plt

import keras  yapay zeka kütüphanesi

def donusumMatrisi(DH_satir):

alpha, a,d,theta= DH_satir[0,0], DH_satir[0,1], DH_satir[0,2], DH_satir[0,3]

T = np.matrix ([[np.cos(theta) , -np.sin(theta) , 0 , a],

[np.sin(theta)*np.cos(alpha), np.cos(theta)*np.cos(alpha), -np.sin(alpha), -np.sin(alpha)*d],

[np.sin(theta)*np.sin(alpha), np.cos(theta)*np.sin(alpha), np.cos(alpha), np.cos(alpha)*d],

[0 , 0 , 0 , 1]])

return T

def ileriKinematik(DH_Matrisi):

T01=donusumMatrisi(DH_Matrisi[0,:])

T12=donusumMatrisi(DH_Matrisi[1,:])

T23=donusumMatrisi(DH_Matrisi[2,:])

T3E=donusumMatrisi(DH_Matrisi[3,:])

T1=T01

T2= T1*T12

T3=T2*T23

T0E = T01*T12*T23*T3E

return T0E, T3, T2, T1