Warning: Imaginary part is currently ignored.

Hello !

I am currently making a small program about the movement of a robotic finger (kinematics). This one is for the inverse kinematics

function [T]=anti_kinimatiko(x,y,f)

global l1 l2 l3 

f=f*pi/180;

sigma=(x^2+y^2-l3^2-2*l3*(x*cos(f)+y*sin(f)))/2/l1/l2;

q2=atan2(+sqrt(1-sigma^2),sigma);

num1=(y-l3*sin(f))*(l1+l2*cos(q2))-(x-l3*cos(f))*l2*sin(q2);

den=(l1^2+l2^2+2*l1*l2*cos(q2));

num2=(x-l3*cos(f))*(l1+l2*cos(q2))+(y-l3*sin(f))*l2*sin(q2);

q1=atan2(num1/den,num2/den);

q3=f-q1-q2;

%ta kanw apo aktinia se moires
q1=q1*180/pi;
q2=q2*180/pi;
q3=q3*180/pi;

T=[q1 q2 q3]';  

kinimatiko(q1,q2,q3)

axis equal

end

where kinimatiko(q1,q2,q3) is another program for the forward kinematics.

When i run the program the problem i take is this ,

Warning: Imaginary part is currently ignored.
Future behavior of ATAN2 with complex inputs may change. 
> In anti_kinimatiko at 10"

What does that mean exactly ,what do i have to change to make it work ?

Answer 1

[Jonathan]

This warning means that one of the inputs to atan2 is imaginary. The two places you use atan2 are extracted below.

q2=atan2(+sqrt(1-sigma^2),sigma);
q1=atan2(num1/den,num2/den);

So, one or more of the arguments to atan2 (namely: +sqrt(1-sigma^2), sigma, num1/den, and num2/den) are imaginary or complex. The most likely candidate is +sqrt(1-sigma^2), since this will be imaginary whenever sigma is greater than 1. Make sure your sigma is properly bounded and try again.

~Jonathan

[Nikolaos]

Thanks a lot for your answer Jonathan ! I am gonna check this out as soon as i get home ! :)