clcsyms q1 q2 q3 dq1 dq2 dq3 a1 a2 m1 m2 m3 t g fassume(a1, 'real');assume(a1>0);assume(a2,'real');assume(a2>0);assume(q3,'real');assume(dq3,'real');assume(q1,'real');assume(q2,'real');assume(dq1,'real');assume(dq2,'real');assume(t,'real');assume(t>0);assume(f,'real');q = [q1;q2;q3]; %vecto cac toa do suy rong
dq = [dq1;dq2;dq3]; %vecto cac dao ham toa do suy rong
%Nhap cac ma tran D-H
A_01=[ cos(q1) -sin(q1) 0 a1*cos(q1);sin(q1) cos(q1) 0 a1*sin(q1);0 0 1 0;0 0 0 1;];A_12=[cos(q2) -sin(q2) 0 a2*cos(q2);sin(q2) cos(q2) 0 a2*sin(q2);0 0 1 0;0 0 0 1;];A_23=[1 0 0 0;0 -1 0 0;0 0 -1 -q3;0 0 0 1;];% Tính các ma tran cosin chi phuong
R_01=A_01(1:3,1:3);A_03=A_01*A_12*A_23;A_02=simplify(A_01*A_12);disp(A_02); % Sau khi tính toán ta thu gon ket qua ngay bang lenh simplify
R_02=A_02(1:3,1:3);disp('Ma tran bien doi thuan nhat khau cuoi la');A_03 = simplify(A_03);R_03 = A_03(1:3,1:3);disp(A_03);%Giai bai toan dong hoc thuan
disp('Giai bai toan dong hoc thuan');disp('toa do diem cuoi');rE = A_03(1:3,4); disp(rE);% Vector toa do khâu thao tác
disp('van toc diem cuoi')v_qE = simplify(jacobian(rE,q)*dq);disp(v_qE); % Tính vector van toc khâu tác dong cuoi
jacobian(rE,q); disp('Jacobi tinh tien'); disp(jacobian(rE,q)); R_0E = A_03(1:3,1:3); disp(R_0E);diff_R_0E = diff(R_0E,q1)*dq1+diff(R_0E,q2)*dq2; %Tinh dao ham cua R
omega_curveE = diff_R_0E*R_0E.'; %omega song khau cuoi
omega_curveE = simplify(omega_curveE);disp('Van toc goc khau cuoi:');omega3 = [omega_curveE(3,2) omega_curveE(1,3) omega_curveE(2,1)]; disp(omega3); %omega
jacobian(omega3,dq); disp('Jacobi quay khau cuoi'); disp(jacobian(omega3,dq));R_01 = A_01(1:3,1:3); disp(R_01);diff_R_01 = diff(R_01,q1)*dq1+diff(R_01,q2)*dq2;omega_curve1 = diff_R_01*R_01.';omega_curve1 = simplify(omega_curve1);disp('Van toc goc khau thu nhat');omega1 = [omega_curve1(3,2) omega_curve1(1,3) omega_curve1(2,1)]; disp(omega1); %omegajacobian(omega1,dq); disp('Jacobi quay khau thu nhat'); disp(jacobian(omega1,dq));R_02 = A_02(1:3,1:3); disp(R_02);diff_R_02 = diff(R_02,q1)*dq1+diff(R_02,q2)*dq2;omega_curve2 = diff_R_02*R_02.';omega_curve2 = simplify(omega_curve2);disp('Van toc goc khau thu hai');omega2 = [omega_curve2(3,2) omega_curve2(1,3) omega_curve2(2,1)]; disp(omega2); %omegajacobian(omega2,dq); disp('Jacobi quay khau thu hai'); disp(jacobian(omega2,dq));%tinh gia toc diem cuoi %chua tinh dc
diff_v_qE = diff(v_qE,q1)*dq1 + diff(v_qE,q2)*dq2;disp('gia toc diem cuoi la:'); disp(diff_v_qE);%tinh gia toc goc diem cuoi
%diff_omega = diff(omega,q1)*dq1 + diff(omega,q2)*dq2;
%disp('gia toc goc khau thao tac'); disp(diff_omega);
%khao sat can bang tinh
F_3E = [0 0 f]; % luc gia cong tai diem cuoi so voi he 3
F_0E = F_3E*R_03;P_01 = [0 0 -m1*g]; %trong luc tac dung len C1
P_02 = [0 0 -m2*g];P_03 = [0 0 -m3*g];r_0C1 = [(a1/2)*cos(q1) (a1/2)*sin(q1) 0]; %toa do C1 so voi he 0
r_1C2 = [(a2/2)*cos(q2) (a2/2)*sin(q2) 0];r_0C2 = r_1C2*R_01;r_2C3 = [-q3/2 0 0];r_0C3 = r_2C3*R_02;J_TE = jacobian(rE,q);J_TC1= jacobian(r_0C1,q);J_TC2= jacobian(r_0C2,q);J_TC3= jacobian(r_0C3,q);%luc dong co
Tdc = -J_TE.'*F_0E - P1.'*J_TC1 - P2.'*J_TC2 - P3.'*J_TC3;disp('luc dong co co gia tri la'); disp(Tdc);F_0_32 = F_0E - P_03; disp('luc tac dung tu khau 2 len khau 3'); disp(F_0_32);F_0_21 = F_0_32 - P_02; disp('luc tac dung tu khau 1 len khau 2'); disp(F_0_21);F_0_10 = F_0_21 - P_01; disp('luc tac dung tu khau 0 len khau 1'); disp(F_0_10);Csym = mupadmex(op,args{1}.s, args{2}.s, varargin{:});Error in * (line 244) X = privBinaryOp(A, B, 'symobj::mtimes');Error in ltmp (line 97)Tdc = -J_TE.'*F_0E - P1.'*J_TC1 - P2.'*J_TC2 - P3.'*J_TC3;
MATLAB: I’m tryng to calculate some number and matrix with the robotics project and facing this problem when run the code. Can anyone explain for me, i’m just a newbie. Thank you very much. The error is after the code.
errorMATLABnewbierobotics
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