Hi,
I initialized this objects:
C = vpa(zeros(4, 4, N));A = vpa(zeros(4,4,N));
where C is:
for i = 1:N C(:,:,i) = [(cos(theta(i))) (-sin(theta(i))).*(cos(alpha(i))) (sin(theta(i))).*(sin(alpha(i))) (a(i)).*(cos(theta(i))); (sin(theta(i))) (cos(theta(i))).*(cos(alpha(i))) (-cos(theta(i))).*(sin(alpha(i))) (a(i)).*(sin(theta(i))); 0 sin(alpha(i)) cos(alpha(i)) d(i); 0 0 0 1]; end
Well, I need that
A(:,:,1)=C(:,:,1);
but elements:
A(:,:,2) ……. A(:,:,N) must be obtained as
A(:,:,2) = C(:,:,1) * C(:,:,2)A(:,:,3) = C(:,:,1) * C(:,:,2) * C(:,:,3)etc....A(:,:,N) = C(:,:,1) * C(:,:,2) * C(:,:,3) * ....* C(:,:,N)
some tips ?
Best Answer