Symbolic matrix with sine and cosine to numerical values.

I have this code:

syms sin(q1) sin(q2) sin(q4) sin(q3) sin(q5) cos(q1) cos(q2) cos(q3) cos(q4) cos(q5) L1 L2 L3 L4 L5 L6

T01=[cos(q1) -sin(q1) 0 0;

sin(q1) cos(q1) 0 0;

0 0 1 L1;

0 0 0 1];

T12=[cos(q2) -sin(q2) 0 0;

sin(q2) cos(q2) 0 0;

0 -1 0 0;

0 0 0 1];

T23=[cos(q3) -sin(q3) 0 L2;

sin(q3) cos(q3) 0 0;

0 0 1 0;

0 0 0 1];

T34= [cos(q4) -sin(q4) 0 L4;

0 0 1 -L3-L5;

sin(q4) cos(q4) 0 0;

0 0 0 1];

T45= [cos(q5) -sin(q5) 0 0;

0 0 1 0;

sin(q5) cos(q5) 0 0;

0 0 0 1];

T56 = [0 1 0 0;

0 0 -1 -L6;

-1 0 0 0;

0 0 0 1];

T06=T01*T12*T23*T34*T45*T56;

L1 = 17; % note: all lengths are given in cm.

L2 = 17;

L3 = 7;

L4 = 4;

L5 = 4;

L6 = 9;

q1=0;

q2=pi/2;

q3=pi/2;

q4=-pi/2;

q5=0;

q6=0;

subs(T06)

//

I want to calculate the numerical values of the matrix T06. However, i am not able to that since the sine and cosine are symbolic functions now. When i use subs(T06) i then get a matrix with stuff like sin(0) and cos(0), but it doesnt calculate it but rather gives it as just sin(0) and cos(0). What can i do?

Answer 1

[madhan ravi]

 double(subs(T06))
 %or
 vpa(subs(T06))

[madhan ravi]

Instead of using syms sin(q1) and so on just declare the arguments as symbolic variables.

[Boris Cnossen]

Thank you!