Alternatives to fsolve for solving systems of nonlinear equations with boundaries
11 ビュー (過去 30 日間)
古いコメントを表示
I’m solving an inverse kinematic problem for a four joint robotic arm. Essentially I have 3 equations (X, Y, Z) and four unknowns (Joint 1 – Joint4) so there are multiple possible solutions for each joint angle. It is a system of nonlinear equations.
fsolve is doing a wonderful job of solving the system for me, but in order to be able to apply my program to actual robot control I need to be able to add constraints to the possible range of the joint angles. They must be between 0 and pi radians.
I’ve tried lsqnonlin with boundaries but run into the problem that I have 3 equations and 4 unknowns.
Are there alternative functions that allow boundary inputs that will solve systems of nonlinear equations? Alternativly, is there a way to use/modify fsolve to force solutions into a range? I'm on R2012b.
Any thoughts would be much appreciated as I'm out of ideas and my google-fu is failing me.
2 件のコメント
Matt J
2013 年 3 月 23 日
I’ve tried lsqnonlin with boundaries but run into the problem that I have 3 equations and 4 unknowns.
How is that a problem? If you didn't care which of many solutions FSOLVE gave you, why do you care with LSQNONLIN?
採用された回答
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
製品
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!