What does it mean and why am I geting this? is there anyway to fix it?
%inverse kinematic given:[−320,30,−320] with respected to base frame
H=[0 0 1 -320; 0 -1 0 30; 1 0 0 -320; 0 0 0 1;]t1 = 0; d1 = th1_; a1 = 0; alpha1 = 0;t2 = th2_+pi; d2 = 0; a2 = L; alpha2 = 0; t3 = th3_-pi/2;d3 = 0; a3 = L; alpha3= -pi/2;t31 = 0; d31 =L; a31 = 0; alpha31 = 0;t4 = 0;d4 = L+th4_;a4 =-L; alpha4 = pi;t5 = th5_+pi;d5 = 0;a5 = L; alpha5 = pi/2;t51 = pi/2; d51= L; a51 = 0; alpha51 = pi/2;t52 = 0; d52 = L; a52 =0; alpha52 = 0;t6 = th6_;d6 = L;a6 = 0; alpha6 = 0; A_1_ = inTransMat(a_1,alpha_1,d_1,t_1); A0_ = inTransMat(a0,alpha0,d0,t0); %setting frame 0 as shown
A1 = inTransMat(a1,alpha1,d1,t1); A2_ = inTransMat(a2,alpha2,d2,t2); A3_ = inTransMat(a3,alpha3,d3,t3); A31_= inTransMat (a31,alpha31,d31,t31); A4_ = inTransMat(a4,alpha4,d4,t4); A5_= inTransMat(a5,alpha5,d5,t5); A51_= inTransMat (a51,alpha51,d51,t51); A52_= inTransMat (a52,alpha52,d52,t52); A6_= inTransMat(a6,alpha6,d6,t6); T_ = A_1*A0*A1*A2_*A3_*A31*A4_*A5_*A51_*A52_*A6 T01_ = A_1*A0*A1; T02_ = A_1*A0*A1*A2_; T03_ = A_1*A0*A1*A2_*A3_*A31; T04_ = A_1*A0*A1*A2_*A3_*A31*A4_; T05_ = A_1*A0*A1*A2_*A3_*A4_*A5*A51_*A52_; T_06= vpa(T_,2) %alegrabi approach
eqn1= T_06(1,1)==H(1,1); eqn2= T_06(1,2)==H(1,2); eqn3= T_06(1,3)==H(1,3); eqn4= T_06(1,4)==H(1,4); eqn5= T_06(2,1)==H(2,1); eqn6= T_06(2,2)==H(2,2); eqn7= T_06(2,3)==H(2,3); eqn8= T_06(2,4)==H(2,4); eqn9= T_06(3,1)==H(3,2); eqn10= T_06(3,2)==H(3,2); eqn11= T_06(3,3)==H(3,3); eqn12= T_06(3,4)==H(3,4); sol = solve([eqn1, eqn2, eqn3,eqn4,eqn5,eqn6,eqn7,eqn8,eqn9,eqn10,eqn11,eqn12], [th1_, th2_, th3_, th4_,th5_,th6_]); th1sol= sol.th1_ th2sol= sol.th2_ th3sol= sol.th3_ th4sol= sol.th4_ th5sol= sol.th5_ th6sol= sol.th6_ function IT = inTransMat(a,b,c,d)IT = [cos(d) -sin(d)*cos(b) sin(d)*sin(b) a*cos(d); sin(d) cos(d)*cos(b) -cos(d)*sin(b) a*sin(d); 0 sin(b) cos(b) c; 0 0 0 1];endfunction T = TransMat(a,b,c,d)T = [cos(d) -sin(d)*cos(b) sin(d)*sin(b) a*cos(d); sin(d) cos(d)*cos(b) -cos(d)*sin(b) a*sin(d); 0 sin(b) cos(b) c; 0 0 0 1];end
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