Why the output shows “NaN NaN" ? Please check for me thanks

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N/A il 19 Gen 2016

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https://it.mathworks.com/matlabcentral/answers/264342-why-the-output-shows-nan-nan-please-check-for-me-thanks

Commentato: Rena Berman il 6 Mag 2021

clc
clf
hold off
tf = 0.005;
theta10 = -19*pi/180;
theta1tf = 30*pi/180;
theta20 = 44*pi/180;
theta2tf = 90*pi/180;
xe=3.33;
ye=4.23;
L1=5;
L2=2;
f0=[L1*cos(theta10) + L2*cos(theta10 + theta20);  L1*sin(theta10) + L2*sin(theta10 + theta20)];
f=[L1*cos(theta10) + L2*cos(theta10 + theta20)-xe; L1*sin(theta10) + L2*sin(theta10 + theta20)-ye];
theta1new=theta10;
theta2new=theta20;
% Equations of motion
epsilon=1e-3;
while norm(f)>epsilon
  T = [ tf.^5 tf.^4 tf.^3
    5*tf.^4 4*tf.^3 3*tf.^2
    20*tf.^3 12*tf.^2 6*tf ];
  c = [ theta10; 0; 0 ];
  disp('Coefficients for theta1 motion:')
  a = T\c
  d = [ theta20; 0; 0 ];
  disp('Coefficients for theta2 motion:')
  b= T\d
  tf=tf+0.005;
  
  tq = [ tf.^5; tf.^4; tf.^3 ];
  theta10 = theta10 + a'*tq;
  theta20 = theta20 + b'*tq;
  
  f=[L1*cos(theta10) + L2*cos(theta10 + theta20)-xe; L1*sin(theta10) + L2*sin(theta10 + theta20)-ye];
    
  norm(f);
end
f
tf

2 Commenti
Mostra NessunoNascondi Nessuno

Stephen23 il 15 Apr 2021

Modificato: Ashish il 21 Apr 2021

Original question on 19th January 2016:

https://web.archive.org/web/20210415101044/https://webcache.googleusercontent.com/search?q=cache%3AOcOXukiKnT0J%3Ahttps%3A%2F%2Fwww.mathworks.com%2Fmatlabcentral%2Fanswers%2F264342-why-the-output-shows-nan-nan-please-check-for-me-thanks

http://web.archive.org/web/20210415101735/https://www.mathworks.com/matlabcentral/answers/264342-thread-closed-question-has-been-answered

Why the output shows “NaN NaN" ? Please check for me thanks

clc
clf
hold off
tf = 0.005;
theta10 = -19*pi/180;
theta1tf = 30*pi/180;
theta20 = 44*pi/180;
theta2tf = 90*pi/180;
xe=3.33;
ye=4.23;
L1=5;
L2=2;
f0=[L1*cos(theta10) + L2*cos(theta10 + theta20);  L1*sin(theta10) + L2*sin(theta10 + theta20)];
f=[L1*cos(theta10) + L2*cos(theta10 + theta20)-xe; L1*sin(theta10) + L2*sin(theta10 + theta20)-ye];
theta1new=theta10;
theta2new=theta20;
% Equations of motion
epsilon=1e-3;
while norm(f)>epsilon
  T = [ tf.^5 tf.^4 tf.^3
    5*tf.^4 4*tf.^3 3*tf.^2
    20*tf.^3 12*tf.^2 6*tf ];
  c = [ theta10; 0; 0 ];
  disp('Coefficients for theta1 motion:')
  a = T\c
  d = [ theta20; 0; 0 ];
  disp('Coefficients for theta2 motion:')
  b= T\d
  tf=tf+0.005;
  
  tq = [ tf.^5; tf.^4; tf.^3 ];
  theta10 = theta10 + a'*tq;
  theta20 = theta20 + b'*tq;
  
  f=[L1*cos(theta10) + L2*cos(theta10 + theta20)-xe; L1*sin(theta10) + L2*sin(theta10 + theta20)-ye];
    
  norm(f);
end
f
tf