Concatenate robots
R = R1 * R2 R = R1 * LINK R = mtimes(R1,R2)
R = R1 * R2 (or R = mtimes(R1,R2)) is a robot object that is equivalent to mechanically attaching robot R2 to the end of robot R1. It is possible to attach a single link to the robot using R = R1 * LINK.
If R1 has a tool transform or R2 has a base transform these are discarded since DH convention does not allow for arbitrary intermediate transformations.