Invalid expression. When calling a function or indexing a variable, use parentheses. Otherwise, check for mismatched delimiters.
2 views (last 30 days)
Show older comments
Tony Yu
on 23 Jun 2020
Answered: Walter Roberson
on 23 Jun 2020
is it because of the sin and cos? how do i solve this?
clc;
clear all;
a1 = 150; alpha1 = pi/2; d1 = 470;
a2 = 600; alpha2 = 0; d2 = 0;
a3 = 120; alpha3 = pi/2; d3 = 720;
syms c1 c2 c23 c3 c4 c5 c6 s1 c1 s2 s23 s3 s4 s5 s6 R03 R36 th1 th2 th3 th4 th5 th6 Xc Yc Zc R06 ox oz oy d6 r d D r11 r12 r13 r21 r22 r23 r31 r32 r33
c1 = cos(th1)
c2 = cos(th2)
c3 = cos(th3)
s1 = sin(th1)
s2 = sin(th2)
s3 = sin(th3)
c23 = cos(th2+th3)
s23 = sin(th2+th3)
d = a1
d6 = 5
%assume d6 = 5
R = [1 0 0 500;
0 1 0 100;
0 0 1 1500;
0 0 0 1];
r11 = R(1,1)
r12 = R(1,2)
r13 = R(1,3)
r21 = R(2,1)
r22 = R(2,2)
r23 = R(2,3)
r31 = R(3,1)
r32 = R(3,2)
r33 = R(3,3)
ox = R(1,4)
oy = R(2,4)
oz = R(3,4)
Xc = ox - d6*R(1,3)
Yc = oy - d6*R(2,3)
Zc = oz - d6*R(3,3)
D = (Xc^2+Yc^2-d^2+(Zc-d1)^2-a2^2-a3^2)/(2*a2*a3)
%inverse kinematic
th1 = atan2(Xc,Yc)
th2 = atan2(sqrt(Xc^2+Yc^2-d^2),Zc-d1)-atan2(a2+a3*c3*,a3*s3)
th3 = atan2 (D,sqrt((1-d^2)))
th4 = atan2(c1*c23*r13+s1*c23*r23+s23r33,-c1*s23*r13-s1*s23*r23+c23*r33)
th5 = atan2(s1*r13-c1*r23,sqrt(1-(s1*r13-c1*r23)^2))
th6 = atan2(-s1*r11+c1*r21, s1*r12-c1*r22)
Error: File: HW2_Q3.m Line: 44 Column: 55
Invalid expression. When calling a function or indexing a variable, use parentheses. Otherwise, check for mismatched delimiters.
0 Comments
Accepted Answer
Walter Roberson
on 23 Jun 2020
In your line
th2 = atan2(sqrt(Xc^2+Yc^2-d^2),Zc-d1)-atan2(a2+a3*c3*,a3*s3)
^
you have a * without a following item to be multiplied by.
0 Comments
More Answers (0)
See Also
Categories
Find more on Numbers and Precision in Help Center and File Exchange
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!