The multi-antenna coded caching problem, where the server having $L$ transmit antennas communicating to $K$ users through a wireless broadcast link, is addressed. In the problem setting, the server has a library of $N$ files, and each user is equipped with a dedicated cache of capacity $M$. The idea of extended placement delivery array (EPDA), an array which consists of a special symbol $\star$ and integers in a set $\{1,2,\dots,S\}$, is proposed to obtain a novel solution for the aforementioned multi-antenna coded caching problem. From a $(K,L,F,Z,S)$ EPDA, a multi-antenna coded caching scheme with $K$ users, and the server with $L$ transmit antennas, can be obtained in which the normalized memory $\frac{M}{N}=\frac{Z}{F}$, and the delivery time $T=\frac{S}{F}$. The placement delivery array (for single-antenna coded caching scheme) is a special class of EPDAs with $L=1$. For the multi-antenna coded caching schemes constructed from EPDAs, it is shown that the maximum possible Degree of Freedom (DoF) that can be achieved is $t+L$, where $t=\frac{KM}{N}$ is an integer. Furthermore, two constructions of EPDAs are proposed: a) $ K=t+L$, and b) $K=nt+(n-1)L, \hspace{0.1cm}L\geq t$, where $n\geq 2$ is an integer. In the resulting multi-antenna schemes from those EPDAs achieve the full DoF, while requiring a subpacketization number $\frac{K}{\text{gcd}(K,t,L)}$. This subpacketization number is less than that required by previously known schemes in the literature.