NEED URGENT HELP !!!!!!!!!!!!!PLEASE IT'S FOR AN EXAM

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MELIGA NAGA VINCENT THEOPHANE
评论： MELIGA NAGA VINCENT THEOPHANE 2022-2-18
I want to compute the homegenous matrix and Jacobian of a robot.i've already wrote this but i want to test it . i want to read joint's DH value form a xlsx file but in that xlsx fie it's also sym variable and i want to read it as sym value. That's the fie i want to import as you see. i use readmatix but show me
DH = readmatrix('DH.xlsx');
theta = DH(2:length(DH),4);
d=DH(2:length(DH),3);
alpha = DH(2:length(DH),2);
a =DH(2:length(DH),1);
Result after importation
EXCEL file

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采纳的回答

Arif Hoq
Arif Hoq 2022-2-18
Ran in:
have a look here
https://www.mathworks.com/matlabcentral/answers/438692-how-to-prevent-xlsread-to-turn-string-data-to-nan-value
[number,str,all]=xlsread('Book4.xlsx');
for col=5:2:size(all,2)
rowidx=find(number(:,col)==0);
all(rowidx+1,:)=[];
end
DH=all;
theta = DH(2:length(DH),4);
d=DH(2:length(DH),3);
alpha = DH(2:length(DH),2);
a =DH(2:length(DH),1)
a = 4×1 cell array
{[-90]} {[-90]} {[ 0]} {[ 0]}

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