MATLAB: Calculating the sum of values of Jacobi Polynomials

MATLAB

for this code given below i also want to calculate the sum of all these five values, kindly assist in this regard:

clc; clear all
syms j
a= 0;
b= 0;
for j = 0:4
      display (jacobiP(j,0,0,-0.655))
end

Best Answer

summe=sum(jacobiP(0:4,0,0,-0.655))

Best wishes

Torsten.

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MATLAB: Forward and inverse dynamics for robot, unable to build robot model.

I solved this answer and code should be like this.

    % create links using D-H parameters
L(1) = Link([ 0 0 0 pi/2 0], 'standard');
L(2) = Link([ 0 .15005 .4318 0 0], 'standard');
L(3) = Link([0 .0203 0 -pi/2 0], 'standard');
L(4) = Link([0 .4318 0 pi/2 0], 'standard');
L(5) = Link([0 0 0 -pi/2 0], 'standard');
L(6) = Link([0 0 0 0 0], 'standard');
%define link mass
L(1).m = 4.43;
L(2).m = 10.2;
L(3).m = 4.8;
L(4).m = 1.18;
L(5).m = 0.32;
L(6).m = 0.13;
%define center of gravity
L(1).r = [ 0 0 -0.08];
L(2).r = [ -0.216 0 0.026];
L(3).r = [ 0 0 0.216];
L(4).r = [ 0 0.02 0];
L(5).r = [ 0 0 0];
L(6).r = [ 0 0 0.01];
%define link inertial as a 6-element vector
%interpreted in the order of [Ixx Iyy Izz Ixy Iyz Ixz]
L(1).I = [ 0.195 0.195 0.026 0 0 0];
L(2).I = [ 0.588 1.886 1.470 0 0 0];
L(3).I = [ 0.324 0.324 0.017 0 0 0];
L(4).I = [ 3.83e-3 2.5e-3 3.83e-3 0 0 0];
L(5).I = [ 0.216e-3 0.216e-3 0.348e-3 0 0 0];
L(6).I = [ 0.437e-3 0.437e-3 0.013e-3 0 0 0];
%define motor inertia
L(1).Jm = 200e-6;
L(2).Jm = 200e-6;
L(3).Jm = 200e-6;
L(4).Jm = 33e-6;
L(5).Jm = 33e-6;
L(6).Jm = 33e-6;
%define gear ratio
L(1).G = -62.6111;
L(2).G = 107.815;
L(3).G = -53.7063;
L(4).G = 76.0364;
L(5).G = 71.923;
L(6).G = 76.686;
% motor viscous friction
L(1).B = 1.48e-3;
L(2).B = .817e-3;
L(3).B = 1.38e-3;
L(4).B = 71.2e-6;
L(5).B = 82.6e-6;
L(6).B = 36.7e-6;
% motor Coulomb friction
L(1).Tc = [ .395 -.435];
L(2).Tc = [ .126 -.071];
L(3).Tc = [ .132 -.105];
L(4).Tc = [ 11.2e-3 -16.9e-3];
L(5).Tc = [ 9.26e-3 -14.5e-3];
L(6).Tc = [ 3.96e-3 -10.5e-3];
% set limits for joints
 L(1).qlim=[deg2rad(-160) deg2rad(160)];
 L(2).qlim=[deg2rad(-125) deg2rad(125)];
 L(3).qlim=[deg2rad(-270) deg2rad(90)];
%build the robot model
puma560 = SerialLink(L, 'name','Puma 560');

MATLAB: Please i want to solve linear equations which takes the form of AX=B where x is the unknown variables but i have another unknown in row 2 of matrix B how i can not solve this problem

You have 6 equations in 7 unknowns. You do not have enough information to determine all of the variables x1, x2, x3, x4, x5, x6, and y .

syms y x1 x2 x3 x4 x5 x6
A=[2-j*3   -0.9+j*9   0        0       0    -1+j*19;
       -0.9+j*9   2-j*3   j*9       0       0   -1+j*9;
        0         j*9     17-j*3   -17+j*2  0     0;
        0         0       -17+j*2   17-j*4  j*2   0;
        0         0       0         j*2     -j*25 0;
        -1+j*19   -1+j*19 0         0        0    3-j*39;      ];
B=[5;y;0;0;2;0]; % y is the unknown variable
X=[x1;x2;x3;x4;x5;x6];
sol = solve(A*X == B, X)

This will have sol.x1 through sol.x6, all dependent on the variable y. If you knew any one x* value then you could calculate y. For example,

Y = solve(sol.x1 == 3+4*j, y)

Best Answer

Related Solutions

MATLAB: Forward and inverse dynamics for robot, unable to build robot model.

MATLAB: Please i want to solve linear equations which takes the form of AX=B where x is the unknown variables but i have another unknown in row 2 of matrix B how i can not solve this problem

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