function [T] = Transform(alpha, a, d, theta) T1 = [cos(theta), -sin(theta), 0, a]; T2 = [sin(theta)*cos(alpha), cos(theta)*cos(alpha), -sin(alpha), -d*sin(alpha)]; T3 = [sin(theta)*sin(alpha), cos(theta)*sin(alpha), cos(alpha), d*cos(alpha)]; T4 = [0,0,0,1]; T = [T1; T2; T3; T4]; end