MATLAB: Robotics: manipulators arm

dynamicskinematicspeter corkerobotics toolbox

hello!!!!

I'm trying to modalise kinematics and dynamics of a scarat 4- DOF (RRPR) with one joint prismatics using toolboxes of Peter Corke.

I don't know how to obtaint dynamics equations with MATLAB and simulate the kinematics.

Thsese are my 2 codes that I have wrote .

the first code this is the error

Error using sym/subsindex (line 769)

Invalid indexing or function definition. When defining a function, ensure that the arguments are symbolic variables and

the body of the function is a SYM expression. When indexing, the input must be numeric, logical, or ':'.

Error in sym/subsref (line 814)

R_tilde = builtin('subsref',L_tilde,Idx);

the second code this the error

Error using tb_optparse (line 303)

unknown options: mask

Error in SerialLink/fkine (line 59)

opt = tb_optparse(opt, varargin);

the first it is to draw et flower and the second is for dynamics

Best Answer

 A_02 = simplify( A_01(q1)*A_12(q2));

That returns an array, not a function handle or symbolic function.

 A_03 = simplify(A_02(q2)*A_23(d3));

With A_02 being an array, q2 is attempting to index it.

A_02 involves two variables, so I cannot predict which variable you want q2 to substitute for (function handle case.)

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MATLAB: How to perform a recursive input using the solve function

t1=0; t2=0:1:360;

So t2 is a vector of length 361

eqn1 = r2.*cosd(t2)+r3.*cosd(t3)==r1.*cosd(t1)+r4.*cosd(t4);

With t2 being a vector of length 361, the left hand side of the == is a vector. The right hand side is a scalar, but expansion will be done so that you will get a vector of equations, one for each element of t2.

Likewise, eqn2 will be a vector of equations.

 solve(eqn1, eqn2, 'IgnoreAnalyticConstraints', true)

with two vectors of length 361, would be trying to solve 722 simultaneous equations, in a total of two unknowns.

You are not going to be able to find a part of t3 and t4 values that manages to solve all 722 equations simultaneously .

You will need something like

 arrayfun(@(E1, E2) solve(E1, E2, [t3, t4], 'IgnoreAnalyticConstraints', true), eqn1, eqn2, 'uniform', 0)

MATLAB: How can we solve only for t1 variable in the equation P=R1 which has multiple variables such as t2 t3. Which is possible mathematically.

With respect to

syms t1 t2 t3
R1 = [
    cos(t2)*cos(t3) - sin(t2)*sin(t3),  - cos(t2)*sin(t3) - cos(t3)*sin(t2), 0, 10*cos(t2);
    (7344817515977723*cos(t2)*sin(t3))/9223372036854775808 + (7344817515977723*cos(t3)*sin(t2))/9223372036854775808, (7344817515977723*cos(t2)*cos(t3))/9223372036854775808 - (7344817515977723*sin(t2)*sin(t3))/9223372036854775808, 9007196398844849/9007199254740992, (36724087579888615*sin(t2))/4611686018427387904 + 45035981994224245/4503599627370496;
     - (9007196398844849*cos(t2)*sin(t3))/9007199254740992 - (9007196398844849*cos(t3)*sin(t2))/9007199254740992,       (9007196398844849*sin(t2)*sin(t3))/9007199254740992 - (9007196398844849*cos(t2)*cos(t3))/9007199254740992, 7344817515977723/9223372036854775808, 36724087579888615/4611686018427387904 - (45035981994224245*sin(t2))/4503599627370496;
     0, 0, 0, 1];
P = [
     (433*cos(t1))/500, -cos(t1)/2, sin(t1),  0;
    -(433*sin(t1))/500,  sin(t1)/2, cos(t1), 0;
    -1/2, 433/500, 0, 0;
    0,  0, 0, 1];

there is no possible solution for R1 == P.

Compare R1(3,3) = 7344817515977723/9223372036854775808 to P(3,3) = 0. These are constants but do not equal each other, so it is not possible to find t1, t2, t3 that will make the matrices equal.

Best Answer

Related Solutions

MATLAB: How to perform a recursive input using the solve function

MATLAB: How can we solve only for t1 variable in the equation P=R1 which has multiple variables such as t2 t3. Which is possible mathematically.

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