Youi need to pass ‘a’ as a parameter to your ‘bicycle’ function.
Try this:
function F = bicycle(x,a)
l2=2.1; l1=2.5; r=0.7; z=5.5; d=1.2; h=1.8;
F(1) = l1*sin(x(1))-l2*sin(x(2))-d-r*cos(a);
F(2) = z-l1*cos(x(1))-l2*cos(x(2))-h-r*sin(a);
end
l2=2.1; l1=2.5; r=0.7; z=5.5; d=1.2; h=1.8;
a=0:0.01:2*pi;
for ct = 1:numel(a)
x(ct,:)=fsolve(@(x)bicycle(x,a(ct)),[1,0]);
end
figure
plot(a, x)
grid
xlabel('a')
ylabel('Root')
legend('F_1', 'F_2', 'Location','N')
The Plot —
