I am unable to get the ans can someone tell how can i solve this

clear

clc

close all

a1=0.05;

a2=0.44;

a3=0.035;

d4=0.42;

d6=0.092;

t4=0;

t5=0;

t6=0;

C=[0,0,0.65];

A=[cos(t1)*(a1+a2*cos(t2)+a3*cos(t2+t3)+d4*sin(t2+t3)+d6*(cos(t2+t3)*cos(t4)*sin(t5)+sin(t2+t3)*cos(t5)))+d6*sin(t1)*sin(t4)*sin(t5)==0,sin(t1)*(a1+a2*cos(t2)+a3*cos(t2+t3)+d4*sin(t2+t3)+d6*(cos(t2+t3)*cos(t4)*sin(t5)+sin(t2+t3)*cos(t5)))+d6*cos(t1)*sin(t4)*sin(t5)==0,a2*sin(t2)+a3*sin(t2+t3)+d6*(sin(t2+t3)+cos(t4)*sin(t5)-cos(t2+t3)*cos(t5))==0.65];

S= vpasolve(A,[t1,t2,t3]);

Answer 1

[Rishabh Singh]

Hey Vinay,

Usage of variables "t1", "t2", "t3" is in form of symbolic variables. So declaring them as shown below will resolve the issue,

clear

clc

close all

a1=0.05;

a2=0.44;

a3=0.035;

d4=0.42;

d6=0.092;

t4=0;

t5=0;

t6=0;

C=[0,0,0.65];

syms t1 t2 t3;%declaring variables as symbolic variables

A=[cos(t1)*(a1+a2*cos(t2)+a3*cos(t2+t3)+d4*sin(t2+t3)+d6*(cos(t2+t3)*cos(t4)*sin(t5)+sin(t2+t3)*cos(t5)))+d6*sin(t1)*sin(t4)*sin(t5)==0,

sin(t1)*(a1+a2*cos(t2)+a3*cos(t2+t3)+d4*sin(t2+t3)+d6*(cos(t2+t3)*cos(t4)*sin(t5)+sin(t2+t3)*cos(t5)))+d6*cos(t1)*sin(t4)*sin(t5)==0,

a2*sin(t2)+a3*sin(t2+t3)+d6*(sin(t2+t3)+cos(t4)*sin(t5)-cos(t2+t3)*cos(t5))==0.65];

S= solve(A,[t1,t2,t3]);

For your specific application I would suggest using "solve symbolic equations". This will display the solutions in the live editor and can load the symbolic equations directly from the workspace.

Also consider looking into solvers other than numeric solvers such as "vpasolve", eg 'solve'.

Hope this helps.

[Vinay Basagare]

Thanks a lot. i really appreciate it.