MATLAB: Warning: Rank deficient, rank = 0, tol = NaN.

kinematics

I write a program to show joint angles of a manipulator. But here is a warning. here is my code:
x = 0:1;
y = -x+2;
a = 1;
D = (x.^2+y.^2-a-a)/2.*a.^2;
th2 = tan((1-D.^2).^(1/2)./D).^(-1);
th1 = tan(y/x).^(-1)-tan(a.*sin(th2)/(a+a.*cos(th2))).^(-1);
plot(x,th2);
hold on;
plot(x,th1);
Thank you very much!

Best Answer

Use ./ instead of /
Also, use
x = linspace(0,1);
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