Jacobian calculation of symbolic variables which are function of time.

12 次查看（过去 30 天）
Sourabh Karmakar
Sourabh Karmakar 2021-3-24
回答： Pratyush Roy 2021-3-30
I am trying to find the jacobian for a transformation matrix. I am using symbolic theta as function of time:
syms the1(t) the3(t) L1(t);
R01 = [cos(the1) sin(the1) 0;-sin(the1) cos(the1) 0;0 0 1];
P01 = [0;L1*sin(the1); L1*cos(the1)];
T01 = [R01 P01;0 0 0 1];
dd = [the1,the3];
jaco = jacobian(T01,dd);
But it is failing with error "First argument must be scalar or vector.".
How can it be implemented?

请先登录，再回答此问题。

采纳的回答

Pratyush Roy
Pratyush Roy 2021-3-30
Hi Sourabh,
In this case the1 and the3 are symbolic functions rather than symbolic variables. There is no direct way to calculate jacobian in such cases.
The link here provides a workaround for creating jacobians in such cases.
Hope this helps!

更多回答（0 个）

类别

在 Help Center 和 File Exchange 中查找有关 Symbolic Math Toolbox 的更多信息

标签

产品


版本

R2021a

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by