function lab_1(t1, t2, t3, t4, t5, t6)

startup_rvc;

T = trotz(-t1,'deg')*transl(410, 0, 865)*trotx(90,'deg');
T = T*trotz(-t2+90,'deg')*transl(1000, 0, 0);
T = T*trotz(-t3,'deg')*transl(45, 0, 0)*trotx(90,'deg');
T = T*trotz(-t4,'deg')*transl(0, 0, 1000)*trotx(-90,'deg');
T = T*trotz(-t5-90,'deg')*transl(210, 0, 0);
T = T*trotz(-t6,'deg');

X = ['X = ', num2str(round((T(1,4)*10))/100), ' cm'];
Y = ['Y = ', num2str(round((T(2,4)*10))/100), ' cm'];
Z = ['Z = ', num2str(round((T(3,4)*10))/100), ' cm'];

disp(X)
disp(Y)
disp(Z)
disp('Done.')
end