Warning: The solutions are parameterized by the symbols: l, z.

Hello. Have a problem with this warning. Had tried many solutions decribed in documentation solved, but still cannot have the numerical answer. Will be very grateful for any advice.

This is the code:

syms th1 th3 th4 d2 d5 a2 a3

A1=mA(th1,0,0,0);

A2=mA(0,d2,a2,sym(-pi/2));

A3=mA(th3,0,a3,0);

A4=mA(th4,0,0,sym(pi/2));

A5=mA(0,d5,0,0);

% position and orientation of the arm tip

T0e=A1*A2*A3*A4*A5

T03 = A1 * A2 * A3;

%constants substitution

T03s=subs(T03,{a2,a3},{0.3,0.1});

%Numerical values

T0en=subs(T0e,{th1 th3 th4 d2 d5 a2 a3 },{pi/3,pi/6,pi/4,0.8,0.6,0.1,0.6})

T0en = double(T0en);

pwn=[T0en(1,3);T0en(2,3);T0en(3,3)]*0.6;

%Substitution of cartesian coordinates;

pn=[150;182;0];

% selection numerical presentation of results

digits(8)

pan=pn-pwn;

paxn=pan(1);

payn=pan(2);

pazn=pan(3);

% define the set of equations

r1=paxn-T03s(1,4);

r2=payn-T03s(2,4);

r3=pazn-T03s(3,4);

res=solve(r1,r2,r3,'th1,d2,th3');

q1=(vpa(res.th1))

q2=(vpa(res.d2))

q3=(vpa(res.th3))

Here: q1 =

6.2831853*l + 0.88108055
6.2831853*l - 2.2605121

q2 =

 0.1*sin(z) - 0.15529143
 0.1*sin(z) - 0.15529143

q3 = z z