Filter löschen
Filter löschen

How do I simplify the expanded equation with syms symbols

2 Ansichten (letzte 30 Tage)
Rohan Dey
Rohan Dey am 29 Okt. 2022
Beantwortet: Gokul Nath S J am 26 Mai 2023
syms s [1 6]; syms c [1 6]; syms a2 a3 d3 d4; syms R_1 [1 3];syms R_2 [1 3];syms R_3 [1 3] ;
syms Px Py Pz;
syms theta1 theta2 theta3 theta4 theta5 theta6;
syms c23 s23;
T_01_14 = a2*c2 - Py*s1 - Px*c1 + a3*c23 - d4*s23
T_01_34 = -Pz - c23*d4 - a2*s2 - a3*s23
T_01_24 = Py*c1 - d3 - Px*s1
eqT_01 = T_01_14^2 + T_01_34^2 + T_01_24^2
eqT_01 = subs(eqT_01,[c1 s1 c2 s2 c3 s3 c23 s23], [cos(theta1) sin(theta1) cos(theta2) sin(theta2) cos(theta3) sin(theta3) cos(theta2)*cos(theta3)-sin(theta2)*sin(theta3) cos(theta2)*sin(theta3)+sin(theta2)*cos(theta3)])
eqT_01 = subs(eqT_01,[cos(theta1) sin(theta1) cos(theta2) sin(theta2) cos(theta3) sin(theta3)], [c1 s1 c2 s2 c3 s3])
eqT_01 = expand(eqT_01)
eqT_01 = simplify(eqT_01)
I am trying to simplify the final eqT_01 equation but I am not able to get it to simplify.
My goal is to find the equation:
by squaring these 3 equations:
(which in my code are T_01_14, T_01_34 and T_01_24)
If you know a better way, please let me know how,
Thank you

Antworten (1)

Gokul Nath S J
Gokul Nath S J am 26 Mai 2023
Hi Rohan,
It seems that your question has already been answered in one of the MATLAB Answer post. Please refer to the following link for more information.
with regards,
Gokul Nath S J

Community Treasure Hunt

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

Start Hunting!

Translated by