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Finding Singularity of Jacobian Matrix (MATLAB)

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Prasanna Venkatesh
Prasanna Venkatesh 2019-6-28
评论： Bruno Luong 2019-7-2
I have a Jacobian matrix containing symbolic variables. Can I find the values of those variables which make the Jacobian matrix singular (loses its rank)?
Note: Jacobian matrix dimension is 3*4
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Prasanna Venkatesh
Prasanna Venkatesh 2019-7-2
>> rref(jac)
ans =
[ 1, 0, -sin(t3)/(sin(t2)*cos(t3)^2 + sin(t2)*cos(t3) + sin(t2)*sin(t3)^2 + cos(t2)*sin(t3)), 0]
[ 0, 1, (sin(t3) + cos(t2)*sin(t3) + cos(t3)*sin(t2))/(sin(t2)*cos(t3)^2 + sin(t2)*cos(t3) + sin(t2)*sin(t3)^2 + cos(t2)*sin(t3)), 0]
[ 0, 0, 0, 1]

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