Jacobian calculation of symbolic variables which are function of time.

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I am trying to find the jacobian for a transformation matrix. I am using symbolic theta as function of time:
syms the1(t) the3(t) L1(t);
R01 = [cos(the1) sin(the1) 0;-sin(the1) cos(the1) 0;0 0 1];
P01 = [0;L1*sin(the1); L1*cos(the1)];
T01 = [R01 P01;0 0 0 1];
dd = [the1,the3];
jaco = jacobian(T01,dd);
But it is failing with error "First argument must be scalar or vector.".
How can it be implemented?

Accepted Answer

Pratyush Roy
Pratyush Roy on 30 Mar 2021
Hi Sourabh,
In this case the1 and the3 are symbolic functions rather than symbolic variables. There is no direct way to calculate jacobian in such cases.
The link here provides a workaround for creating jacobians in such cases.
Hope this helps!

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