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Matlab Question

  1. Dec 5, 2005 #1
    I am not sure if this is in the right forum
    but i have 2 matrices in Matlab

    T =
    [ r11, r12, r13, dx]
    [ r21, r22, r23, dy]
    [ r31, r32, r33, dz]
    [ 0, 0, 0, 1]

    T04 =
    [sin(theta2+theta4+theta1), cos(theta2+theta4+theta1),0, 7*cos(theta1+theta2)+4*cos(theta1)]
    [-cos(theta2+theta4+theta1),sin(theta2+theta4+theta1),0, 7*sin(theta1+theta2)+4*sin(theta1)]

    I want to set T=T04 and solve for
    theta1, theta2, theta4, and d3 in terms of r11 r12 r13 dx r21 r22 r23 dy r31 r32 r33 dz
    is there a command that will do this for me?
    thank you
  2. jcsd
  3. Dec 8, 2005 #2
    I don't understand your notation here. Is that supposed to be a nonlinear system of 16 equations, or something else?
  4. Dec 8, 2005 #3
    Are you trying to solve them symbolically?
  5. Dec 9, 2005 #4
    what I am trying to solve is the Inverse Kinematics of a RRP robotic manipulator
    what those equations represent is this
    T04 is the D-H convention of a robotic manipulator
    T is the position vector of a teach pendant

    right now i tried using a for loop
    to equate the 2 matrices

    and then invoked the solve(eqn, var) command to solve for theta1, theta2 .. ect
    and it seems to be working correctly

    yes i am trying to solve them symbolically
  6. Dec 9, 2005 #5
    I need to do something like that too! But I think an iterrative solution is probably the only one that will be realisitic. I dont know if all systems of nonlinear equations can be solved, probably not.
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