Help with Function please !

2011 12 29
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Hello Matlab community!
I need your help for one more time ! :)
Well i have made a program for the forward kinematics of one finger. That program has a function which is ... function kin(q1,q2,q3,t) These (q1,q2,q3) are the angles of the joints for the finger. I want to do that for the rest of the fingers but i don't want to make the exact same program for each of the fingers. I want to just do that from one program. What i have in mind is , if it is q1_1, q1_2, q1_3 it is for the first finger , q2_1, q2_2, q2_3 is for the second finger etc.
Can you please help me with this ? Thanks a lot in advance Nick

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Fangjun Jiang
Fangjun Jiang 2011-12-29

0 个投票

Please don't do this. Follow this thread. http://www.mathworks.com/matlabcentral/answers/143-how-do-i-make-a-series-of-variables-a1-a2-a3-a10
I suggest you make a 5x3 matrix, for example,
FingerAngle=rand(5,3);
Then call the function for the first finger
kin(FingerAngle(1,1),FingerAngle(1,2),FingerAngle(1,3))
For the second finger, it will be
kin(FingerAngle(2,1),FingerAngle(2,2),FingerAngle(2,3))
Or a little bit advanced, use cell array
FingerAngle=num2cell(rand(5,3));
% for the first finger
kin(FingerAngle{1,:})
% for the second finger
kin(FingerAngle{2,:})

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Nikolaos
Nikolaos 2011-12-29
As i am kinda new to Matlab i got stuck again though. So the program will go like this
FingerAngle =rand(5,3);
kin(FingerAngle(1,1),FingerAngle(1,2),FingerAngle(1,3))
kin(FingerAngle(2,1),FingerAngle(2,2),FingerAngle(2,3))
kin(FingerAngle(3,1),FingerAngle(3,2),FingerAngle(3,3))
kin(FingerAngle(4,1),FingerAngle(4,2),FingerAngle(4,3))
kin(FingerAngle(5,1),FingerAngle(5,2),FingerAngle(5,3))
I wrote that and i saw all the fingers on a figure (as i have it in my kinematic program) The thing that i got confused is , where exactly do i put the number for each of the angles ?As it was before the q1,q2,q3 for each finger
Fangjun Jiang
Fangjun Jiang 2011-12-29
If you want to set the angle value as you want, you can do
FingerAngle(1,1)=pi/4;
FingerAngle(1,3)=pi/6;
FingerAngle(3,2)=pi/5;
...
Nikolaos
Nikolaos 2011-12-30
I love you !
Thank you again :)

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更多回答（1 个）

Sean de Wolski
Sean de Wolski 2011-12-29

0 个投票

Use a matrix.
Q = zeros(5,3);
And store in the corresponding ij indices of Q.
FAQ4.6

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