hello everyone
i'm trying to solve these equations with fsolve, but even with close initial guess it doesn't give me the correct answer. here are the equations:
function F=IK(x) F=[cos(x(4))*sin(x(1))*sin(x(6)) - 1.0*cos(x(5))*cos(x(6))*sin(x(1))*sin(x(4)) + cos(x(1))*cos(x(2))*cos(x(3))*sin(x(4))*sin(x(6)) - 1.0*cos(x(1))*cos(x(2))*cos(x(6))*sin(x(3))*sin(x(5)) + cos(x(1))*cos(x(3))*cos(x(6))*sin(x(2))*sin(x(5)) + cos(x(1))*sin(x(2))*sin(x(3))*sin(x(4))*sin(x(6)) + cos(x(1))*cos(x(2))*cos(x(3))*cos(x(4))*cos(x(5))*cos(x(6)) + cos(x(1))*cos(x(4))*cos(x(5))*cos(x(6))*sin(x(2))*sin(x(3)); cos(x(1))*cos(x(5))*cos(x(6))*sin(x(4)) - 1.0*cos(x(1))*cos(x(4))*sin(x(6)) + cos(x(2))*cos(x(3))*sin(x(1))*sin(x(4))*sin(x(6)) - 1.0*cos(x(2))*cos(x(6))*sin(x(1))*sin(x(3))*sin(x(5)) + cos(x(3))*cos(x(6))*sin(x(1))*sin(x(2))*sin(x(5)) + sin(x(1))*sin(x(2))*sin(x(3))*sin(x(4))*sin(x(6)) + cos(x(2))*cos(x(3))*cos(x(4))*cos(x(5))*cos(x(6))*sin(x(1)) + cos(x(4))*cos(x(5))*cos(x(6))*sin(x(1))*sin(x(2))*sin(x(3)); cos(x(2))*cos(x(3))*cos(x(6))*sin(x(5)) + cos(x(2))*sin(x(3))*sin(x(4))*sin(x(6)) - 1.0*cos(x(3))*sin(x(2))*sin(x(4))*sin(x(6)) + cos(x(6))*sin(x(2))*sin(x(3))*sin(x(5)) + cos(x(2))*cos(x(4))*cos(x(5))*cos(x(6))*sin(x(3)) - 1.0*cos(x(3))*cos(x(4))*cos(x(5))*cos(x(6))*sin(x(2)); cos(x(1))*cos(x(3))*sin(x(2))*sin(x(5))*sin(x(6)) - 1.0*cos(x(5))*sin(x(1))*sin(x(4))*sin(x(6)) - 1.0*cos(x(1))*cos(x(2))*cos(x(3))*cos(x(6))*sin(x(4)) - 1.0*cos(x(1))*cos(x(6))*sin(x(2))*sin(x(3))*sin(x(4)) - 1.0*cos(x(1))*cos(x(2))*sin(x(3))*sin(x(5))*sin(x(6)) - 1.0*cos(x(4))*cos(x(6))*sin(x(1)) + cos(x(1))*cos(x(2))*cos(x(3))*cos(x(4))*cos(x(5))*sin(x(6)) + cos(x(1))*cos(x(4))*cos(x(5))*sin(x(2))*sin(x(3))*sin(x(6)); cos(x(1))*cos(x(4))*cos(x(6)) + cos(x(1))*cos(x(5))*sin(x(4))*sin(x(6)) - 1.0*cos(x(2))*cos(x(3))*cos(x(6))*sin(x(1))*sin(x(4)) - 1.0*cos(x(6))*sin(x(1))*sin(x(2))*sin(x(3))*sin(x(4)) - 1.0*cos(x(2))*sin(x(1))*sin(x(3))*sin(x(5))*sin(x(6)) + cos(x(3))*sin(x(1))*sin(x(2))*sin(x(5))*sin(x(6)) + cos(x(2))*cos(x(3))*cos(x(4))*cos(x(5))*sin(x(1))*sin(x(6)) + cos(x(4))*cos(x(5))*sin(x(1))*sin(x(2))*sin(x(3))*sin(x(6)); cos(x(3))*cos(x(6))*sin(x(2))*sin(x(4)) - 1.0*cos(x(2))*cos(x(6))*sin(x(3))*sin(x(4)) + cos(x(2))*cos(x(3))*sin(x(5))*sin(x(6)) + sin(x(2))*sin(x(3))*sin(x(5))*sin(x(6)) + cos(x(2))*cos(x(4))*cos(x(5))*sin(x(3))*sin(x(6)) - 1.0*cos(x(3))*cos(x(4))*cos(x(5))*sin(x(2))*sin(x(6)); sin(x(1))*sin(x(4))*sin(x(5)) - 1.0*cos(x(1))*cos(x(2))*cos(x(5))*sin(x(3)) + cos(x(1))*cos(x(3))*cos(x(5))*sin(x(2)) - 1.0*cos(x(1))*cos(x(2))*cos(x(3))*cos(x(4))*sin(x(5)) - 1.0*cos(x(1))*cos(x(4))*sin(x(2))*sin(x(3))*sin(x(5)); cos(x(3))*cos(x(5))*sin(x(1))*sin(x(2)) - 1.0*cos(x(2))*cos(x(5))*sin(x(1))*sin(x(3)) - 1.0*cos(x(1))*sin(x(4))*sin(x(5)) - 1.0*cos(x(2))*cos(x(3))*cos(x(4))*sin(x(1))*sin(x(5)) - 1.0*cos(x(4))*sin(x(1))*sin(x(2))*sin(x(3))*sin(x(5)); cos(x(5))*sin(x(2))*sin(x(3)) + cos(x(2))*cos(x(3))*cos(x(5)) - 1.0*cos(x(2))*cos(x(4))*sin(x(3))*sin(x(5)) + cos(x(3))*cos(x(4))*sin(x(2))*sin(x(5)); 0.16*cos(x(1)) - 0.0006763*sin(x(1)) + 0.59*cos(x(1))*cos(x(2)) - 0.10587*cos(x(4))*sin(x(1)) + 0.2*cos(x(1))*sin(x(2))*sin(x(3)) + 0.2015*sin(x(1))*sin(x(4))*sin(x(5)) + 0.2*cos(x(1))*cos(x(2))*cos(x(3)) + 0.723*cos(x(1))*cos(x(2))*sin(x(3)) - 0.723*cos(x(1))*cos(x(3))*sin(x(2)) - 0.10587*cos(x(1))*cos(x(2))*cos(x(3))*sin(x(4)) - 0.2015*cos(x(1))*cos(x(2))*cos(x(5))*sin(x(3)) + 0.2015*cos(x(1))*cos(x(3))*cos(x(5))*sin(x(2)) - 0.10587*cos(x(1))*sin(x(2))*sin(x(3))*sin(x(4)) - 0.2015*cos(x(1))*cos(x(2))*cos(x(3))*cos(x(4))*sin(x(5)) - 0.2015*cos(x(1))*cos(x(4))*sin(x(2))*sin(x(3))*sin(x(5)); 0.0006763*cos(x(1)) + 0.16*sin(x(1)) + 0.10587*cos(x(1))*cos(x(4)) + 0.59*cos(x(2))*sin(x(1)) + 0.723*cos(x(2))*sin(x(1))*sin(x(3)) - 0.723*cos(x(3))*sin(x(1))*sin(x(2)) - 0.2015*cos(x(1))*sin(x(4))*sin(x(5)) + 0.2*sin(x(1))*sin(x(2))*sin(x(3)) + 0.2*cos(x(2))*cos(x(3))*sin(x(1)) - 0.10587*cos(x(2))*cos(x(3))*sin(x(1))*sin(x(4)) - 0.2015*cos(x(2))*cos(x(5))*sin(x(1))*sin(x(3)) + 0.2015*cos(x(3))*cos(x(5))*sin(x(1))*sin(x(2)) - 0.10587*sin(x(1))*sin(x(2))*sin(x(3))*sin(x(4)) - 0.2015*cos(x(2))*cos(x(3))*cos(x(4))*sin(x(1))*sin(x(5)) - 0.2015*cos(x(4))*sin(x(1))*sin(x(2))*sin(x(3))*sin(x(5)); 0.2*cos(x(2))*sin(x(3)) - 0.723*cos(x(2))*cos(x(3)) - 0.59*sin(x(2)) - 0.2*cos(x(3))*sin(x(2)) - 0.723*sin(x(2))*sin(x(3)) - 0.10587*cos(x(2))*sin(x(3))*sin(x(4)) + 0.10587*cos(x(3))*sin(x(2))*sin(x(4)) + 0.2015*cos(x(5))*sin(x(2))*sin(x(3)) + 0.2015*cos(x(2))*cos(x(3))*cos(x(5)) - 0.2015*cos(x(2))*cos(x(4))*sin(x(3))*sin(x(5)) + 0.2015*cos(x(3))*cos(x(4))*sin(x(2))*sin(x(5)) + 0.456]
and the code:
clc;clear;tic;x0=[2.5570, 3.005,1,0,2.3685,2.0853];% x0=[2.55707, 3.13087,0.68765,0,2.443221,2.557073]; exact initial guess
[x,fval] = fsolve(@IK,x0)toc;%answer with exact initial guess : x = 1.6735 0.4234 -0.8127 0.4869 1.6022 1.3645
%answer with another guess yet close to answer: x = 4.1680 0.5210 -0.7761 0.4922 1.4093 4.2110
what the problem can be?
Best Answer