Solving a system of equations with multiple solutions
6 ビュー (過去 30 日間)
古いコメントを表示
Hi everyone,
I am having a problem that I have to solve 2 equations with 3 variables, which means that there will be mutiple solutions. My 2 equatons are:
cos(theta1)*sin(theta3 - pi/2) + cos(theta3 - pi/2)*sin(theta1) + d2*cos(theta1) - 2 = 0
sin(theta1)*sin(theta3 - pi/2) - cos(theta1)*cos(theta3 - pi/2) + d2*sin(theta1) = 0
And the variables are theta1, theta3, d2. I am sure that there will be expressions that show the relation between these variables. But I dont know how to find them?
0 件のコメント
採用された回答
Birdman
2017 年 10 月 30 日
syms theta1 theta3 d2
eqn1=cos(theta1)*sin(theta3-pi/2)+cos(theta3-pi/2)*sin(theta1)+d2*cos(theta1)-2==0;
eqn2=sin(theta1)*sin(theta3-pi/2)-cos(theta1)*cos(theta3-pi/2)+d2*sin(theta1)==0;
sol=solve(eqn1,eqn2);
%%the solutions are found in terms of d2
sol.theta1
sol.theta3
5 件のコメント
その他の回答 (0 件)
参考
カテゴリ
Help Center および File Exchange で Robotics についてさらに検索
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!