Jacobian calculation of symbolic variables which are function of time.

4 次查看(过去 30 天)
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?


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)


Help CenterFile Exchange 中查找有关 Robotics 的更多信息





Community Treasure Hunt

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

Start Hunting!

Translated by