% DH parameter (Corke's version)example
clear all;%clear import (does not work in script mode) - use to switch from 2d to 3d
import ETs2.*
L1=Revolute('a',1);L2=Revolute('a',1);L3=Revolute('a',1);%Because this is 2d, alpha and d are zero
robot = SerialLink([L1 L2 L3],'name','Dwayne')
robot.fkine([20 30 40],'deg')

robot.teach