Error: File: puma560.m Line: 12 Column: 56 Invalid expression. When calling a function or indexing a variable, use parentheses. Otherwise, check for mismatched delimiters.

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balakrishna Gudapati 2020-12-10

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评论： Rik 2020-12-10

clear all

clc

syms theta1 theta2 theta3 theta4 theta5 theta6;

theta1=0.12;

theta2=0.24;

theta3=0;

theta4=0;

theta5=0;

theta6=0;

T1=[cos(theta1) -sin(theta1) 0 0;sin(theta1) cos(theta1)

0 0;0 0 0 1;0 0 0 1];

T2=[cos(theta2) -sin(theta2) 0 0;0 0 1 0;-sin(theta2) -

cos(theta2) 0 0;0 0 0 1];

T3=[cos(theta3) -sin(theta3) 0 0.43180;sin(theta3)

cos(theta3) 0 0;0 0 1 0.12446;0 0 0 1];

T4=[cos(theta4) -sin(theta4) 0 0.02032;0 0 1 0.43180;-

sin(theta4) -cos(theta4)0 0;0 0 0 1];

T5=[cos(theta5) -sin(theta5) 0 0;0 0 -1 0;sin(theta5)

cos(theta5) 0 0;0 0 0 1];

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balakrishna Gudapati 2020-12-10

can anyone help me with the correct code

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回答（2 个）

Amir RF 2020-12-10

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Dear balakrishna,

In T1, T2, T3, and T4 you made a typo. If you want to continue the vector, equation,... you should use "..." at the end of each line. Also, for T4, you have to put an space between "-cos(theta4)" and "0".

T1=[cos(theta1) -sin(theta1) 0 0;sin(theta1) cos(theta1) ...
0 0;0 0 0 1;0 0 0 1];
T2=[cos(theta2) -sin(theta2) 0 0;0 0 1 0;-sin(theta2) - ...
cos(theta2) 0 0;0 0 0 1];
T3=[cos(theta3) -sin(theta3) 0 0.43180;sin(theta3) ...
cos(theta3) 0 0;0 0 1 0.12446;0 0 0 1];
T4=[cos(theta4) -sin(theta4) 0 0.02032;0 0 1 0.43180; ...
-sin(theta4) -cos(theta4) 0 0;0 0 0 1];

Best,

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balakrishna Gudapati 2020-12-10

can u please send me the entire code again

Rik 2020-12-10

Why don't you try using what Amir has showed you? This is basic Matlab syntax that will often need to use. Why don't you try learning from it, rather than waiting for someone else to make the edits for you?

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balakrishna Gudapati 2020-12-10

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balakrishna Gudapati 2020-12-10

but im getting a differenent output can u verify the output

Rik 2020-12-10

Have a read here and here. It will greatly improve your chances of getting an answer. You can find guidelines for posting homework on this forum here. If you have trouble with Matlab basics you may consider doing the Onramp tutorial (which is provided for free by Mathworks). If your main issue is with understanding the underlying concept, you may consider re-reading the material you teacher provided and ask them for further clarification.

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