can't plot

syms p1
th1 = 0
ap1 = 0
a1 = 0
b1 = 0.5
c1 = 0
R1z = [ cos(p1), -sin(p1),0, 0;
    sin(p1), cos(p1), 0, 0;
    0, 0, 1, 0;
    0, 0, 0, 1];
M1y = [1, 0, 0, a1;
    0, 1, 0, b1;
    0, 0, 1, c1;
    0, 0, 0, 1];
TM1 = R1z*M1y

syms ap2
th2 = 0
p2 = 0
a2 = 0
b2 = 0
c2 = 0.3
R2y = [ cos(ap2),0, -sin(ap2), 0;
    0, 1, 0, 0;
    sin(ap2), 0, cos(ap2), 0;
    0, 0, 0, 1];
M2z = [1, 0, 0, a2;
    0, 1, 0, b2;
    0, 0, 1, c2;
    0, 0, 0, 1];
TM2 = R2y*M2z

syms ap3
th3 = 0
ap3 = 0
a3 = 0
b3 = 0
c3 = 0.2
R3y = [ cos(ap3),0, -sin(ap3), 0;
    0, 1, 0, 0;
    sin(ap3), 0, cos(ap3), 0;
    0, 0, 0, 1];
M3z = [1, 0, 0, a3;
    0, 1, 0, b3;
    0, 0, 1, c3;
    0, 0, 0, 1];

TM3 = R3y* M3z

syms ap4
th4 = 0
p4 = 0
a4 = 0
b4 = 0
c4 = 0.2
R4y = [ cos(ap4),0, -sin(ap4), 0;
    0, 1, 0, 0;
    sin(ap4), 0, cos(ap4), 0;
    0, 0, 0, 1];
M4z = [1, 0, 0, a3;
    0, 1, 0, b3;
    0, 0, 1, c3;
    0, 0, 0, 1];

TM4 = R4y* M4z


TM1
T12=mtimes(TM1,TM2)
T123=mtimes(TM1,mtimes(TM2,TM3))
T1234=mtimes(TM1,mtimes(TM2,mtimes(TM3,TM4)))

%%ex.3.2

L1=0.5
L2=0.3
L3=0.2
for i=1:1:20
   for j= 1:1:20
ap2=pi/10*i
p1=pi/10*j
ap3=pi/10*j
rrrrrx=  -sin(p1)/2 %링크1의 x좌표
rrrrry=cos(p1)/2 %링크1의 y좌표
rrrrrz=  0             %링크1의 z좌표

rrrrx= -sin(p1)/2 - (3*cos(p1)*sin(ap2))/10 %링크2의 x좌표
rrrry= cos(p1)/2 - (3*sin(ap2)*sin(p1))/10 %링크2의 y좌표
rrrrz=  (3*cos(ap2))/10  %링크2의 z좌표

rrrx= - sin(p1)/2 - (cos(p1)*sin(ap2))/2 %링크3의 x좌표
rrry= cos(p1)/2 - (sin(ap2)*sin(p1))/2 %링크3의 y좌표
rrrz= cos(ap2)/2 %링크3의 z좌표
   
rrx= - sin(p1)/2 - cos(p1)*((3*sin(ap2))/10 + sin(ap2)*(cos(ap4)/5 + 1/5) + (cos(ap2)*sin(ap4))/5) %링크4의 x좌표
rry=  cos(p1)/2 - sin(p1)*((3*sin(ap2))/10 + sin(ap2)*(cos(ap4)/5 + 1/5) + (cos(ap2)*sin(ap4))/5) %링크4의 y좌표
rrz=  (3*cos(ap2))/10 - (sin(ap2)*sin(ap4))/5 + cos(ap2)*(cos(ap4)/5 + 1/5) %링크4의 z좌표


    
rx=[rrrrrx,rrrrx,rrrx,rrx];
ry=[rrrrry,rrrry,rrry,rry]
rz=[rrrrrz,rrrrz,rrrz,rrz]



plot3(rx,ry,rz,'-');
axis([-2 2 -2 2 -2 2])
figure(3)
end
end  

I'm kind of a new for matlab.. please help! i can't plot this simulation

[Image Analyst]

Does it need to by symbolic? Can you just assign some range for p1, ap2, etc?

[YoungWoo Choi]

yes, ap2, ap3, ap4, p1 is a unknown values for the angle,. I think the range of p1 and ap2 ,3,4 is 2*pi, because its an angle(radian).

[Image Analyst]

If yes, and you cannot convert them from symbolic to arrays with linspace(), then I can't run it because I don't have the Symbolic toolbox. If you make them arrays, I might have a chance.

Answer 1

[VBBV]

syms p1 ap2 ap3 ap4
th1 = 0;
ap1 = 0;
a1 = 0;
b1 = 0.5;
c1 = 0;
R1z = [ cos(p1), -sin(p1),0, 0;
    sin(p1), cos(p1), 0, 0;
    0, 0, 1, 0;
    0, 0, 0, 1];
M1y = [1, 0, 0, a1;
    0, 1, 0, b1;
    0, 0, 1, c1;
    0, 0, 0, 1];
TM1 = R1z*M1y;


th2 = 0;
p2 = 0;
a2 = 0;
b2 = 0;
c2 = 0.3;
R2y = [ cos(ap2),0, -sin(ap2), 0;
    0, 1, 0, 0;
    sin(ap2), 0, cos(ap2), 0;
    0, 0, 0, 1];
M2z = [1, 0, 0, a2;
    0, 1, 0, b2;
    0, 0, 1, c2;
    0, 0, 0, 1];
TM2 = R2y*M2z;


th3 = 0;
ap3 = 0;
a3 = 0;
b3 = 0;
c3 = 0.2;
R3y = [ cos(ap3),0, -sin(ap3), 0;
    0, 1, 0, 0;
    sin(ap3), 0, cos(ap3), 0;
    0, 0, 0, 1];
M3z = [1, 0, 0, a3;
    0, 1, 0, b3;
    0, 0, 1, c3;
    0, 0, 0, 1];

TM3 = R3y* M3z;

th4 = 0;
ap4 = 0;
p4 = 0;
a4 = 0;
b4 = 0;
c4 = 0.2;
R4y = [ cos(ap4),0, -sin(ap4), 0;
    0, 1, 0, 0;
    sin(ap4), 0, cos(ap4), 0;
    0, 0, 0, 1];
M4z = [1, 0, 0, a3;
    0, 1, 0, b3;
    0, 0, 1, c3;
    0, 0, 0, 1];

TM4 = R4y* M4z;


TM1;
T12=mtimes(TM1,TM2);
T123=mtimes(TM1,mtimes(TM2,TM3));
T1234=mtimes(TM1,mtimes(TM2,mtimes(TM3,TM4)));

%%ex.3.2

L1=0.5;
L2=0.3;
L3=0.2;
hold on 
for i=1:1:20
   for j= 1:1:20
ap2=pi/10*i;
p1=pi/10*j;
ap3=pi/10*j;
ap4 = pi/10*j;
rrrrrx=  -sin(p1)/2; %링크1의 x좌표
rrrrry=cos(p1)/2; %링크1의 y좌표
rrrrrz=  0   ;          %링크1의 z좌표

rrrrx= -sin(p1)/2 - (3*cos(p1)*sin(ap2))/10; %링크2의 x좌표
rrrry= cos(p1)/2 - (3*sin(ap2)*sin(p1))/10; %링크2의 y좌표
rrrrz=  (3*cos(ap2))/10;  %링크2의 z좌표

rrrx= - sin(p1)/2 - (cos(p1)*sin(ap2))/2; %링크3의 x좌표
rrry= cos(p1)/2 - (sin(ap2)*sin(p1))/2; %링크3의 y좌표
rrrz= cos(ap2)/2; %링크3의 z좌표
   
rrx= - sin(p1)/2 - cos(p1)*((3*sin(ap2))/10 + sin(ap2)*(cos(ap4)/5 + 1/5) + (cos(ap2)*sin(ap4))/5); %링크4의 x좌표
rry=  cos(p1)/2 - sin(p1)*((3*sin(ap2))/10 + sin(ap2)*(cos(ap4)/5 + 1/5) + (cos(ap2)*sin(ap4))/5); %링크4의 y좌표
rrz=  (3*cos(ap2))/10 - (sin(ap2)*sin(ap4))/5 + cos(ap2)*(cos(ap4)/5 + 1/5); %링크4의 z좌표


    
rx=[rrrrrx,rrrrx,rrrx,rrx];
ry=[rrrrry,rrrry,rrry,rry];
rz=[rrrrrz,rrrrz,rrrz,rrz];
plot3(double(rx),double(ry),double(rz),'b.');  
axis([-2 2 -2 2 -2 2])



end
end  

% view(3)

Answer 2

[Vaibhav Tomar]

Hey

Conversion to arrays might make it easier to analyse the specific issue with the execution. It might be better if you could assign some range for p1,ap2,etc.