Is it possible to solve when the equations are little complex? For example lets’s take an inverse kinematics problem. Where we get,

-0.2595 0.5536 0.7913 0.3004 r11 r12 r13 o1
-0.7781 -0.6052 0.1682 0.0639 = r21 r22 r23 o2
0.5721 -0.5721 0.5878 0.6167 r31 r32 r33 o3
0 0 0 1 0 0 0 0

each of these symbols represents a trigonometric function such as below. Need to find θ1,θ2,θ3,θ4,θ5

[ sin(theta1)*sin(theta5) – cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta2)*sin(theta3) – cos(theta1)*cos(theta2)*cos(theta3)) + sin(theta4)*(cos(theta1)*cos(theta2)*sin(theta3) + cos(theta1)*cos(theta3)*sin(theta2))), cos(theta5)*sin(theta1) + sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta2)*sin(theta3) – cos(theta1)*cos(theta2)*cos(theta3)) + sin(theta4)*(cos(theta1)*cos(theta2)*sin(theta3) + cos(theta1)*cos(theta3)*sin(theta2))), cos(theta4)*(cos(theta1)*cos(theta2)*sin(theta3) + cos(theta1)*cos(theta3)*sin(theta2)) – sin(theta4)*(cos(theta1)*sin(theta2)*sin(theta3) – cos(theta1)*cos(theta2)*cos(theta3)), (1143*cos(theta1)*cos(theta2))/5000 + (127*cos(theta4)*(cos(theta1)*cos(theta2)*sin(theta3) + cos(theta1)*cos(theta3)*sin(theta2)))/1600 – (127*sin(theta4)*(cos(theta1)*sin(theta2)*sin(theta3) – cos(theta1)*cos(theta2)*cos(theta3)))/1600 – (1143*cos(theta1)*sin(theta2)*sin(theta3))/5000 + (1143*cos(theta1)*cos(theta2)*cos(theta3))/5000]
[ – cos(theta1)*sin(theta5) – cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta2)*sin(theta3) – cos(theta2)*cos(theta3)*sin(theta1)) + sin(theta4)*(cos(theta2)*sin(theta1)*sin(theta3) + cos(theta3)*sin(theta1)*sin(theta2))), sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta2)*sin(theta3) – cos(theta2)*cos(theta3)*sin(theta1)) + sin(theta4)*(cos(theta2)*sin(theta1)*sin(theta3) + cos(theta3)*sin(theta1)*sin(theta2))) – cos(theta1)*cos(theta5), cos(theta4)*(cos(theta2)*sin(theta1)*sin(theta3) + cos(theta3)*sin(theta1)*sin(theta2)) – sin(theta4)*(sin(theta1)*sin(theta2)*sin(theta3) – cos(theta2)*cos(theta3)*sin(theta1)), (1143*cos(theta2)*sin(theta1))/5000 + (127*cos(theta4)*(cos(theta2)*sin(theta1)*sin(theta3) + cos(theta3)*sin(theta1)*sin(theta2)))/1600 – (127*sin(theta4)*(sin(theta1)*sin(theta2)*sin(theta3) – cos(theta2)*cos(theta3)*sin(theta1)))/1600 – (1143*sin(theta1)*sin(theta2)*sin(theta3))/5000 + (1143*cos(theta2)*cos(theta3)*sin(theta1))/5000]
[ cos(theta5)*(cos(theta4)*(cos(theta2)*sin(theta3) + cos(theta3)*sin(theta2)) + sin(theta4)*(cos(theta2)*cos(theta3) – sin(theta2)*sin(theta3))), -sin(theta5)*(cos(theta4)*(cos(theta2)*sin(theta3) + cos(theta3)*sin(theta2)) + sin(theta4)*(cos(theta2)*cos(theta3) – sin(theta2)*sin(theta3))), sin(theta4)*(cos(theta2)*sin(theta3) + cos(theta3)*sin(theta2)) – cos(theta4)*(cos(theta2)*cos(theta3) – sin(theta2)*sin(theta3)), (1143*sin(theta2))/5000 + (1143*cos(theta2)*sin(theta3))/5000 + (1143*cos(theta3)*sin(theta2))/5000 – (127*cos(theta4)*(cos(theta2)*cos(theta3) – sin(theta2)*sin(theta3)))/1600 + (127*sin(theta4)*(cos(theta2)*sin(theta3) + cos(theta3)*sin(theta2)))/1600 + 4953/20000]
[ 0, 0, 0, 1]

Is matlab capable of solving such equations?

Thank you.Is it possible to solve when the equations are little complex? For example lets’s take an inverse kinematics problem. Where we get,

-0.2595 0.5536 0.7913 0.3004 r11 r12 r13 o1
-0.7781 -0.6052 0.1682 0.0639 = r21 r22 r23 o2
0.5721 -0.5721 0.5878 0.6167 r31 r32 r33 o3
0 0 0 1 0 0 0 0

each of these symbols represents a trigonometric function such as below. Need to find θ1,θ2,θ3,θ4,θ5

[ sin(theta1)*sin(theta5) – cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta2)*sin(theta3) – cos(theta1)*cos(theta2)*cos(theta3)) + sin(theta4)*(cos(theta1)*cos(theta2)*sin(theta3) + cos(theta1)*cos(theta3)*sin(theta2))), cos(theta5)*sin(theta1) + sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta2)*sin(theta3) – cos(theta1)*cos(theta2)*cos(theta3)) + sin(theta4)*(cos(theta1)*cos(theta2)*sin(theta3) + cos(theta1)*cos(theta3)*sin(theta2))), cos(theta4)*(cos(theta1)*cos(theta2)*sin(theta3) + cos(theta1)*cos(theta3)*sin(theta2)) – sin(theta4)*(cos(theta1)*sin(theta2)*sin(theta3) – cos(theta1)*cos(theta2)*cos(theta3)), (1143*cos(theta1)*cos(theta2))/5000 + (127*cos(theta4)*(cos(theta1)*cos(theta2)*sin(theta3) + cos(theta1)*cos(theta3)*sin(theta2)))/1600 – (127*sin(theta4)*(cos(theta1)*sin(theta2)*sin(theta3) – cos(theta1)*cos(theta2)*cos(theta3)))/1600 – (1143*cos(theta1)*sin(theta2)*sin(theta3))/5000 + (1143*cos(theta1)*cos(theta2)*cos(theta3))/5000]
[ – cos(theta1)*sin(theta5) – cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta2)*sin(theta3) – cos(theta2)*cos(theta3)*sin(theta1)) + sin(theta4)*(cos(theta2)*sin(theta1)*sin(theta3) + cos(theta3)*sin(theta1)*sin(theta2))), sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta2)*sin(theta3) – cos(theta2)*cos(theta3)*sin(theta1)) + sin(theta4)*(cos(theta2)*sin(theta1)*sin(theta3) + cos(theta3)*sin(theta1)*sin(theta2))) – cos(theta1)*cos(theta5), cos(theta4)*(cos(theta2)*sin(theta1)*sin(theta3) + cos(theta3)*sin(theta1)*sin(theta2)) – sin(theta4)*(sin(theta1)*sin(theta2)*sin(theta3) – cos(theta2)*cos(theta3)*sin(theta1)), (1143*cos(theta2)*sin(theta1))/5000 + (127*cos(theta4)*(cos(theta2)*sin(theta1)*sin(theta3) + cos(theta3)*sin(theta1)*sin(theta2)))/1600 – (127*sin(theta4)*(sin(theta1)*sin(theta2)*sin(theta3) – cos(theta2)*cos(theta3)*sin(theta1)))/1600 – (1143*sin(theta1)*sin(theta2)*sin(theta3))/5000 + (1143*cos(theta2)*cos(theta3)*sin(theta1))/5000]
[ cos(theta5)*(cos(theta4)*(cos(theta2)*sin(theta3) + cos(theta3)*sin(theta2)) + sin(theta4)*(cos(theta2)*cos(theta3) – sin(theta2)*sin(theta3))), -sin(theta5)*(cos(theta4)*(cos(theta2)*sin(theta3) + cos(theta3)*sin(theta2)) + sin(theta4)*(cos(theta2)*cos(theta3) – sin(theta2)*sin(theta3))), sin(theta4)*(cos(theta2)*sin(theta3) + cos(theta3)*sin(theta2)) – cos(theta4)*(cos(theta2)*cos(theta3) – sin(theta2)*sin(theta3)), (1143*sin(theta2))/5000 + (1143*cos(theta2)*sin(theta3))/5000 + (1143*cos(theta3)*sin(theta2))/5000 – (127*cos(theta4)*(cos(theta2)*cos(theta3) – sin(theta2)*sin(theta3)))/1600 + (127*sin(theta4)*(cos(theta2)*sin(theta3) + cos(theta3)*sin(theta2)))/1600 + 4953/20000]
[ 0, 0, 0, 1]

Is matlab capable of solving such equations?

Thank you. Is it possible to solve when the equations are little complex? For example lets’s take an inverse kinematics problem. Where we get,

-0.2595 0.5536 0.7913 0.3004 r11 r12 r13 o1
-0.7781 -0.6052 0.1682 0.0639 = r21 r22 r23 o2
0.5721 -0.5721 0.5878 0.6167 r31 r32 r33 o3
0 0 0 1 0 0 0 0

each of these symbols represents a trigonometric function such as below. Need to find θ1,θ2,θ3,θ4,θ5

[ sin(theta1)*sin(theta5) – cos(theta5)*(cos(theta4)*(cos(theta1)*sin(theta2)*sin(theta3) – cos(theta1)*cos(theta2)*cos(theta3)) + sin(theta4)*(cos(theta1)*cos(theta2)*sin(theta3) + cos(theta1)*cos(theta3)*sin(theta2))), cos(theta5)*sin(theta1) + sin(theta5)*(cos(theta4)*(cos(theta1)*sin(theta2)*sin(theta3) – cos(theta1)*cos(theta2)*cos(theta3)) + sin(theta4)*(cos(theta1)*cos(theta2)*sin(theta3) + cos(theta1)*cos(theta3)*sin(theta2))), cos(theta4)*(cos(theta1)*cos(theta2)*sin(theta3) + cos(theta1)*cos(theta3)*sin(theta2)) – sin(theta4)*(cos(theta1)*sin(theta2)*sin(theta3) – cos(theta1)*cos(theta2)*cos(theta3)), (1143*cos(theta1)*cos(theta2))/5000 + (127*cos(theta4)*(cos(theta1)*cos(theta2)*sin(theta3) + cos(theta1)*cos(theta3)*sin(theta2)))/1600 – (127*sin(theta4)*(cos(theta1)*sin(theta2)*sin(theta3) – cos(theta1)*cos(theta2)*cos(theta3)))/1600 – (1143*cos(theta1)*sin(theta2)*sin(theta3))/5000 + (1143*cos(theta1)*cos(theta2)*cos(theta3))/5000]
[ – cos(theta1)*sin(theta5) – cos(theta5)*(cos(theta4)*(sin(theta1)*sin(theta2)*sin(theta3) – cos(theta2)*cos(theta3)*sin(theta1)) + sin(theta4)*(cos(theta2)*sin(theta1)*sin(theta3) + cos(theta3)*sin(theta1)*sin(theta2))), sin(theta5)*(cos(theta4)*(sin(theta1)*sin(theta2)*sin(theta3) – cos(theta2)*cos(theta3)*sin(theta1)) + sin(theta4)*(cos(theta2)*sin(theta1)*sin(theta3) + cos(theta3)*sin(theta1)*sin(theta2))) – cos(theta1)*cos(theta5), cos(theta4)*(cos(theta2)*sin(theta1)*sin(theta3) + cos(theta3)*sin(theta1)*sin(theta2)) – sin(theta4)*(sin(theta1)*sin(theta2)*sin(theta3) – cos(theta2)*cos(theta3)*sin(theta1)), (1143*cos(theta2)*sin(theta1))/5000 + (127*cos(theta4)*(cos(theta2)*sin(theta1)*sin(theta3) + cos(theta3)*sin(theta1)*sin(theta2)))/1600 – (127*sin(theta4)*(sin(theta1)*sin(theta2)*sin(theta3) – cos(theta2)*cos(theta3)*sin(theta1)))/1600 – (1143*sin(theta1)*sin(theta2)*sin(theta3))/5000 + (1143*cos(theta2)*cos(theta3)*sin(theta1))/5000]
[ cos(theta5)*(cos(theta4)*(cos(theta2)*sin(theta3) + cos(theta3)*sin(theta2)) + sin(theta4)*(cos(theta2)*cos(theta3) – sin(theta2)*sin(theta3))), -sin(theta5)*(cos(theta4)*(cos(theta2)*sin(theta3) + cos(theta3)*sin(theta2)) + sin(theta4)*(cos(theta2)*cos(theta3) – sin(theta2)*sin(theta3))), sin(theta4)*(cos(theta2)*sin(theta3) + cos(theta3)*sin(theta2)) – cos(theta4)*(cos(theta2)*cos(theta3) – sin(theta2)*sin(theta3)), (1143*sin(theta2))/5000 + (1143*cos(theta2)*sin(theta3))/5000 + (1143*cos(theta3)*sin(theta2))/5000 – (127*cos(theta4)*(cos(theta2)*cos(theta3) – sin(theta2)*sin(theta3)))/1600 + (127*sin(theta4)*(cos(theta2)*sin(theta3) + cos(theta3)*sin(theta2)))/1600 + 4953/20000]
[ 0, 0, 0, 1]

Is matlab capable of solving such equations?

Thank you. solve MATLAB Answers — New Questions

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