alpha=sym('alpha',[1 6])theta=sym('theta',[1 6])d=sym('d',[1 6])a=sym('a',[1 6])A=sym('A',[1 6])for S=[1 2 3 4 5 6]A(S)=[cos(theta(S)),-sin(theta(S))*cos(alpha(S)),sin(theta(S))*sin(alpha(S)),a(S)*cos(theta(S)) sin(theta(S)),cos(theta(S))*cos(alpha(S)),-cos(theta(S))*sin(alpha(S)),a(S)*sin(theta(S)) 0,sin(alpha(S)),cos(alpha(S)),d(S) 0,0,0,1]end
My answer is as follows
>> NEW
alpha =
[ alpha1, alpha2, alpha3, alpha4, alpha5, alpha6]
theta =
[ theta1, theta2, theta3, theta4, theta5, theta6]
d =
[ d1, d2, d3, d4, d5, d6]
a =
[ a1, a2, a3, a4, a5, a6]
A =
[ A1, A2, A3, A4, A5, A6]
In an assignment A(:) = B, the number of elements in A and B must be the same.
Error in sym/privsubsasgn (line 1067)
L_tilde2 = builtin('subsasgn',L_tilde,struct('type','()','subs',{varargin}),R_tilde);
Error in sym/subsasgn (line 904)
C = privsubsasgn(L,R,inds{:});
Error in NEW (line 7)
A(S)=[cos(theta(S)),-sin(theta(S))*cos(alpha(S)),sin(theta(S))*sin(alpha(S)),a(S)*cos(theta(S))
Best Answer