for the robot manipulator lab i have worked on a 3R manipulator
the first joint at the base rotates about z axis
Here is a simplified figure to show joints' axes
and the DH parameters are calculated as shown in the table
this table is what we use to create the manipulator object in MATLAB
for the GUI i assume you know how to create a new one
here, i need to work with both forward and inverse kinematics
So, here i need 3 text boxes to enter the value of each joint variable
and when i press 'forward'  button i get the tool tip position as x, y & z
and the other option is to enter the tool tip position. press 'Inverse' button to get each joint variable.
so, simply what i need is just these text entries and a figure space to plot in
for the functions i want to write
for the forward kinematics function
right click on the button, select 'View Callbacks' and then choose 'Callback'
sorry! instead, add a fifth parameter with value 1:  " Link( [ theta d a alpha 1] ); "
