Why is the derivative of a matrix not of the same order?

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Hi
I need to take the derivative of the "Q" matrix of joints in Matlab for a robot. but using the derivative method here
I see that the derivative of a 3x3 matrix is a 2x3 matrix! why? should it be so?
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Accepted Answer

Star Strider
Star Strider on 15 Nov 2022
Use the gradient function instead of diff.
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More Answers (2)

Walter Roberson
Walter Roberson on 17 Nov 2022
For the case where rotations are no rotations in z, but there are two joints moving around and with angular rotational velocities and :
syms x y z t alpha_1 alpha_2 cx_1 cy_1 cz_1 cx_2 cy_2 cz_2 theta theta_1 theta_2
R = @(theta) [cos(theta) sin(theta) 0 0; -sin(theta) cos(theta) 0 0; 0 0 1 0; 0 0 0 1]
R = function_handle with value:
@(theta)[cos(theta),sin(theta),0,0;-sin(theta),cos(theta),0,0;0,0,1,0;0,0,0,1]
T = @(tx, ty, tz) [1 0 0 tx; 0 1 0 ty; 0 0 1 tz; 0 0 0 1]
T = function_handle with value:
@(tx,ty,tz)[1,0,0,tx;0,1,0,ty;0,0,1,tz;0,0,0,1]
RotAround = @(theta, cx, cy, cz) T(-cx, -cy, -cz) * R(theta) * T(cx, cy, cz)
RotAround = function_handle with value:
@(theta,cx,cy,cz)T(-cx,-cy,-cz)*R(theta)*T(cx,cy,cz)
Q1 = RotAround(theta_1 + alpha_1 * t, cx_1, cy_1, cz_1)
Q1 = 
Q2 = RotAround(theta_2 + alpha_2 * t, cx_2, cy_2, cz_2)
Q2 = 
Q = simplify(Q1 * Q2)
Q = 
eqns = Q*[x;y;z;0]
eqns = 
dx = simplify(diff(eqns(1), t))
dx = 
dy = simplify(diff(eqns(2), t))
dy = 
dz = simplify(diff(eqns(3), t))
dz = 
0
You could extend this to include rotations in Z or to include additional joints.

Bruno Luong
Bruno Luong on 15 Nov 2022
Edited: Bruno Luong on 15 Nov 2022
I guess you mistaken between
Use the fist is just the difference of 3 rows of Q 3x3 matrix, there fore returns 2x3 matrix. It is NOT the derivative/
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Farzad Torabi
Farzad Torabi on 15 Nov 2022
Bruno, since you seem to have experience in robotics, please advice me which method is correct when I have a numerical matrix of Q

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