how I can get Px,Py and Pz value ?

please help me to know Px,Py and Pz value

Px = c5(s1*s4*c2*c4*d6-s1*s2*c3*c4*d6-c1*s4*d6)-s5(s1*c2*c3*d6+s1*s2*s3*d6-c1*d6)-s1*c2*c3*a4*-s1*s2*c3*a3-c1*a4*-c1*d2+c1*a1;
Py = c5(s1*s3*c2*c4*d6-s1*s2*c3*c4*d6-s1*s4*d6)-s5(c1*c2*c3*d6+s2*s3*c1*d6-s1*d6)-c1*c2*c3*a4-c1*c2*s3*d3+c1*s2*s3*a4-c1*c3*s2*d3-s1*a4-s1*d2+s1*a1;
Pz = -s2*c3*a4-s2*s3*d3-c2*s4*a4+c2*c3*d3;
%%
s1 = sind(Theta_1);s2 = sind(Theta_2);s3 = sind(Theta_3);s4 = sind(Theta_4);s5 = sind(Theta_5);s6 = sind(Theta_6);
c1 = cosd(Theta_1);c2 = cosd(Theta_2);c3 = cosd(Theta_3);c4 = cosd(Theta_4);c5 = cosd(Theta_5);c6 = cosd(Theta_6); 
%Given
Theta_1 =45;
Theta_2 =10;
Theta_3 =0;
Theta_4 =90;
Theta_5 =0;
Theta_6 =45;
%known
a1 = 0.35;
a3 = 0.3;
a4 = 0.46;
d2 = 0.76;
d3 = 0.16;
d6 = 0.085;

Answer 1

[KSSV]

%%
%Given
Theta_1 =45;
Theta_2 =10;
Theta_3 =0;
Theta_4 =90;
Theta_5 =0;
Theta_6 =45;
%known
a1 = 0.35;
a3 = 0.3;
a4 = 0.46;
d2 = 0.76;
d3 = 0.16;
d6 = 0.085;

s1 = sind(Theta_1);s2 = sind(Theta_2);s3 = sind(Theta_3);s4 = sind(Theta_4);s5 = sind(Theta_5);s6 = sind(Theta_6);
c1 = cosd(Theta_1);c2 = cosd(Theta_2);c3 = cosd(Theta_3);c4 = cosd(Theta_4);c5 = cosd(Theta_5);c6 = cosd(Theta_6); 

Px = c5*(s1*s4*c2*c4*d6-s1*s2*c3*c4*d6-c1*s4*d6)-s5*(s1*c2*c3*d6+s1*s2*s3*d6-c1*d6)-s1*c2*c3*a4*-s1*s2*c3*a3-c1*a4*-c1*d2+c1*a1;
Py = c5*(s1*s3*c2*c4*d6-s1*s2*c3*c4*d6-s1*s4*d6)-s5*(c1*c2*c3*d6+s2*s3*c1*d6-s1*d6)-c1*c2*c3*a4-c1*c2*s3*d3+c1*s2*s3*a4-c1*c3*s2*d3-s1*a4-s1*d2+s1*a1;
Pz = -s2*c3*a4-s2*s3*d3-c2*s4*a4+c2*c3*d3;

[Wandro Siregar]

Thank you very much for your answer