I cant take inverse of J matris. it is jacobian.

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Emrah
Emrah 2013-12-26
评论： Emrah 2013-12-27
syms x g h k l q a b c d f
y1 = (x*cos(q)+x*cos(g)-f*cos(l)-(b/2)*cos(h)-a*cos(q));
y2 = (x*sin(q)+x*sin(g)-f*sin(l)-(b/2)*sin(h)-a*sin(q));
y3 = (a*cos(q)+b*cos(h)-c*cos(k)-d);
y4 = a*sin(q)+b*sin(h)-c*sin(k);
y = [y1; y2; y3; y4];
v = [x; (h); (k); (l)];
J = jacobian(y, v);
inv(J)
J * inv(J)
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Emrah
Emrah 2013-12-26
I dont understand what you mean? J matrix is jacobian matris. rank(J) = 4 gives me. :(

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采纳的回答

A Jenkins
A Jenkins 2013-12-26
编辑：A Jenkins 2013-12-26
simplify(J*inv(J))
ans =
[ 1, 0, 0, 0]
[ 0, 1, 0, 0]
[ 0, 0, 1, 0]
[ 0, 0, 0, 1]

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