Matrix Multiplication with Trigonometric Functions

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N Soomro
N Soomro 2021-12-1
评论： N Soomro 2021-12-2
Ran in:
a = theta1
b = theta2
A = [cos(a+pi) -sin(a+pi)cos(pi/2) sin(a+pi)sin(pi/2) -0.033cos(a+pi);
sin(a+pi) cos(a+pi)cos(pi/2) -cos(a+pi)sin(pi/2) -0.033sin(a+pi);
0 sin(pi/2) cos(pi/2) 0.145;
0 0 0 1]
Invalid expression. Check for missing multiplication operator, missing or unbalanced delimiters, or other syntax error. To construct matrices, use brackets instead of parentheses.

Error in connector.internal.fevalMatlab

Error in connector.internal.fevalJSON
B = [cos(b+(pi/2)) -sin(b+(pi/2))cos(0) sin(b+(pi/2))sin(0) 0.155cos(b+(pi/2));
sin(b+(pi/2)) cos(b+(pi/2))cos(0) -cos(b+(pi/2))sin(0) 0.155sin(b+(pi/2));
0 sin(0) cos(0) 0;
0 0 0 1]
Answer = A*B;

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回答（1 个）

Rik
Rik 2021-12-1
The solution is in the error message: in Matlab you need to explicitly use the * operator. In mathematical notation you can generally leave those out, but here you need them.
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Walter Roberson
Walter Roberson 2021-12-2
Ran in:
syms theta_1 theta_2
pi = sym(pi);
a = theta_1;
b = theta_2;
A = [cos(a+pi) (-sin(a+pi))*cos(pi/2) (sin(a+pi))*sin(pi/2) -0.033*cos(a+pi);
sin(a+pi) (cos(a+pi))*cos(pi/2) (-cos(a+pi))*sin(pi/2) -0.033*sin(a+pi);
0 sin(pi/2) cos(pi/2) 0.145;
0 0 0 1];
B = [cos(b+(pi/2)) -sin(b+(pi/2))*(cos(0)) sin(b+(pi/2))*(sin(0)) 0.155*cos(b+(pi/2));
sin(b+(pi/2)) cos(b+(pi/2))*(cos(0)) -cos(b+(pi/2))*(sin(0)) 0.155*sin(b+(pi/2));
0 sin(0) cos(0) 0;
0 0 0 1];
Answer = A*B
Answer = 
simplify(Answer)
ans = 
N Soomro
N Soomro 2021-12-2
This is what I was looking for. Thanks a million Mr. Walter Roberson.

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