Warning: Rank deficient, rank = 0, tol = NaN.

I write a program to show joint angles of a manipulator. But here is a warning. here is my code:

x = 0:1;
y = -x+2;
a = 1;
D = (x.^2+y.^2-a-a)/2.*a.^2;
th2 = tan((1-D.^2).^(1/2)./D).^(-1);
th1 = tan(y/x).^(-1)-tan(a.*sin(th2)/(a+a.*cos(th2))).^(-1);
plot(x,th2);
hold on;
plot(x,th1);

Thank you very much!

Answer 1

[Walter Roberson]

Use ./ instead of /

Also, use

x = linspace(0,1);

[Hui Zhang]

Thank you very much!