How to fix Error using atan2 Inputs must be real?

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Konard Adams
Konard Adams 2022-1-26
回答： Konard Adams 2022-1-27
Function
function ConcLin = Line(A,B)
%% Linear Moving along desired path
% **** Linear First Movement ***
% Calling Inverse Kinematics to
%% number of increments
ResLin = 100;
%% Equations
DeltaX = (B(1,1) - A(1,1)) / ResLin;
DeltaY = (B(1,2) - A(1,2)) / ResLin;
DeltaZ = (B(1,3) - A(1,3)) / ResLin;
%% Looping through each point of the line
tic;
AnglesLin = zeros(6); %preallocating memory
for f = 1:ResLin
%% calculating actual point
A(1,1) = A(1,1) + DeltaX * f;
A(1,2) = A(1,2) + DeltaY * f;
A(1,3) = A(1,3) + DeltaZ * f;
AnglesLin(f,:) = IKine(A);
end
toc
%% Increments of Time
tic;
TimeLin = zeros(1); %preallocating memory
for clockLin = 1:ResLin
TickTockLin = clockLin*0.1+10;
TimeLin(clockLin,:) = TickTockLin;
end
toc
%% Concatenating Time & Angles. Time will be the first column
ConcLin = [TimeLin,AnglesLin];
Main
%% Coordinates Input
% LINE desired Paths. If Input method is used, comment out this block of code.
% *****We will define these as one matrix 1x12*****
Lin1 = [750, -75, 670, 0, 0, 1, 0, -1, 0, 1, 0, 0];%A
% Xa = Lin1(1,1); Ya = Lin1(1,2); Za = Lin1(1,3);
Lin2 = [750, -75, 550, 0, 0, 1, 0, -1, 0, 1, 0, 0];%B
% Xb = Lin2(1,1); Yb = Lin2(1,2); Zb = Lin2(1,3);
Lin3 = [750, 75, 550, 0, 0, 1, 0, -1, 0, 1, 0, 0];
Lin4 = [750, 75, 670, 0, 0, 1, 0, -1, 0, 1, 0, 0];
Lin5 = [750, 0, 700, 0, 0, 1, 0, -1, 0, 1, 0, 0];
Lin6 = [750, 0, 550, 0, 0, 1 0, -1, 0, 1, 0, 0];
%% Calling Linear Motion
ConcLin = Line(Lin1, Lin2);
  5 个评论
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Steven Lord
Steven Lord 2022-1-26
Ran in:
You're assuming d3/p1 is strictly less than or equal to 1. What guarantee do you have that this is the case?
If it was ever so slightly greater than 1:
d3 = 2;
p1 = 2 - eps(2); % Just barely less than 2
s = (d3/p1)
s = 1.0000
s > 1 % true
ans = logical
1
sqrt(1-s^2) % complex
ans = 0.0000e+00 + 2.1073e-08i
You can use min and max to ensure s is strictly in a desired range.
Konard Adams
Konard Adams 2022-1-27
Thank you. Here is the solution.:
When we move from previous point to next point, the coordinate equals to the previous coordinate plus the Delta, so we don't need to multiply f.
Before:
for f = 1:ResLin
%% calculating actual point
A(1,1) = A(1,1) + DeltaX * f;
A(1,2) = A(1,2) + DeltaY * f;
A(1,3) = A(1,3) + DeltaZ * f;
AnglesLin(f,:) = IKine(A);
Correct:
for f = 1:ResLin
%% calculating actual point
A(1,1) = A(1,1) + DeltaX;
A(1,2) = A(1,2) + DeltaY;
A(1,3) = A(1,3) + DeltaZ;
AnglesLin(f,:) = IKine(A);

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采纳的回答

Konard Adams
Konard Adams 2022-1-27
When we move from previous point to next point, the coordinate equals to the previous coordinate plus the Delta, so we don't need to multiply f.
Before:
for f = 1:ResLin
%% calculating actual point
A(1,1) = A(1,1) + DeltaX * f;
A(1,2) = A(1,2) + DeltaY * f;
A(1,3) = A(1,3) + DeltaZ * f;
AnglesLin(f,:) = IKine(A);
Correct:
for f = 1:ResLin
%% calculating actual point
A(1,1) = A(1,1) + DeltaX;
A(1,2) = A(1,2) + DeltaY;
A(1,3) = A(1,3) + DeltaZ;
AnglesLin(f,:) = IKine(A);
Now it works. @Torsten @Steven Lord Thanks for helping. I learn a lot from these discussions. Cheers!

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