I am trying to generate a matlab function script to calculate the dynamics of a 4-link robot manipulator. All calculations are done symbolically without error. The goal is to make the function take a bunch of parameters as an input and return system matrices D,C and G. At the end of the script the function file is generated by the line:
matlabFunction(D,C,G,'File','getDynamicsFnc','Vars',{[q], [q_dot], [I1], [I2], [I3], [I4], [th_a], [DH_params], [m], [com], [g]});
This leads to the following error:
My inputs to the function are shown here:
q = sym('q',[dim 1],'real');
q_dot = sym('q_dot',[dim 1],'real');
I1 = sym('I1', [3 3],'real');
I2 = sym('I2', [3 3],'real');
I3 = sym('I3', [3 3],'real');
I4 = sym('I4', [3 3],'real');
I{1} = I1; I{2} = I2; I{3} = I3; I{4} = I4;
th_a = sym('th_a','real');
DH_params = sym('DH_params', [5 4],'real');
com = sym('com', [5 3],'real');
m = sym('m', [1 dim],'real');
I have checked dimentions for all vectors/matrices and everything seems to be in order. No errors show up in any calculations. Full script is added as an attachment. Note that running the script as is might take several minutes (mostly due to the matlabFunction call).
