%robottr
%
%	TR = robottr(r,theta1,theta2,d3)
%
% Returns a homogeneous transformation for our 3 link robot 


function r = robottr(r,theta1,theta2,d3)
    l1 = r.link{1};
    l2 = r.link{2};
    l3 = r.link{3};
    A1 = linktr(l1.alpha,l1.A,theta1,l1.D);
    A2 = linktr(l2.alpha,l2.A,theta2,l2.D);
    A3 = linktr(l3.alpha,l3.A,l3.theta,d3);
	r =   A1 * A2 * A3;