- Declare variables using syms.
- Build the expression.
- Define the first and second derivative using diff function.
symbolic derivative of lagrangian & kinematic coefficient
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Hi
II am working on some mechanical problems.
basically trying to take symbolic derivative of kinematic coefficients for the purpose of checking my hand calculations..
so here is the position scaler ; r2 cos(th2) - r3 * cos(th3) = 0
taking derivative with respect to th2 (theta2) , Vx = -r2 *sin(th2) + r3 *sin(th3) * d(th3)/d(th2) - cos(th3)*d(r3)/d(th2) = 0
and differentiate again for acceleration with respect to th2
Could you please explain on how this can be achieved using matlab?
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Guru Mohanty
2020-5-11
Hi, I understand you want to find the first and second derivative of the following expression. You can do this by the following steps.
Here is a sample code for it.
syms th2 r2 th3(th2) r3(th2)
disp = r2*cos(th2) - r3*cos(th3);
vel=diff(disp,th2);
accel=diff(vel,th2);
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