Error: File: puma560.m Line: 12 Column: 56 Invalid expression. When calling a function or indexing a variable, use parentheses. Otherwise, check for mismatched delimiters.

clear all

clc

syms theta1 theta2 theta3 theta4 theta5 theta6;

theta1=0.12;

theta2=0.24;

theta3=0;

theta4=0;

theta5=0;

theta6=0;

T1=[cos(theta1) -sin(theta1) 0 0;sin(theta1) cos(theta1)

0 0;0 0 0 1;0 0 0 1];

T2=[cos(theta2) -sin(theta2) 0 0;0 0 1 0;-sin(theta2) -

cos(theta2) 0 0;0 0 0 1];

T3=[cos(theta3) -sin(theta3) 0 0.43180;sin(theta3)

cos(theta3) 0 0;0 0 1 0.12446;0 0 0 1];

T4=[cos(theta4) -sin(theta4) 0 0.02032;0 0 1 0.43180;-

sin(theta4) -cos(theta4)0 0;0 0 0 1];

T5=[cos(theta5) -sin(theta5) 0 0;0 0 -1 0;sin(theta5)

cos(theta5) 0 0;0 0 0 1];

[balakrishna Gudapati]

can anyone help me with the correct code

Answer 1

[Amir RF]

Dear balakrishna,

In T1, T2, T3, and T4 you made a typo. If you want to continue the vector, equation,... you should use "..." at the end of each line. Also, for T4, you have to put an space between "-cos(theta4)" and "0".

T1=[cos(theta1) -sin(theta1) 0 0;sin(theta1) cos(theta1) ...
0 0;0 0 0 1;0 0 0 1];
T2=[cos(theta2) -sin(theta2) 0 0;0 0 1 0;-sin(theta2) - ...
cos(theta2) 0 0;0 0 0 1];
T3=[cos(theta3) -sin(theta3) 0 0.43180;sin(theta3) ...
cos(theta3) 0 0;0 0 1 0.12446;0 0 0 1];
T4=[cos(theta4) -sin(theta4) 0 0.02032;0 0 1 0.43180; ...
-sin(theta4) -cos(theta4) 0 0;0 0 0 1];

Best,

[balakrishna Gudapati]

can u please give me the entire code

[Amir RF]

Here you are:

clear all
clc
syms theta1 theta2 theta3 theta4 theta5 theta6;
theta1=0.12;
theta2=0.24;
theta3=0;
theta4=0;
theta5=0;
theta6=0;
T1=[cos(theta1) -sin(theta1) 0 0;sin(theta1) cos(theta1) ...
0 0;0 0 0 1;0 0 0 1];
T2=[cos(theta2) -sin(theta2) 0 0;0 0 1 0;-sin(theta2) ...
-cos(theta2) 0 0;0 0 0 1];
T3=[cos(theta3) -sin(theta3) 0 0.43180;sin(theta3) ...
cos(theta3) 0 0;0 0 1 0.12446;0 0 0 1];
T4=[cos(theta4) -sin(theta4) 0 0.02032;0 0 1 0.43180; ...
-sin(theta4) -cos(theta4) 0 0;0 0 0 1];
T5=[cos(theta5) -sin(theta5) 0 0;0 0 -1 0;sin(theta5)...
cos(theta5) 0 0;0 0 0 1];

Hope it works.

Best,

[balakrishna Gudapati]

But u have written code up to T5 only

there is T6 also

[balakrishna Gudapati]

T6=[cos(theta6) -sin(theta6) 0 0;0 0 1 0;-sin(theta6) -

cos(theta6) 0 0;0 0 0 1];

[Amir RF]

T6=[cos(theta6) -sin(theta6) 0 0;0 0 1 0;-sin(theta6) ...
    -cos(theta6) 0 0;0 0 0 1];

[balakrishna Gudapati]

can u please send me the entire code again

[Rik]

Why don't you try using what Amir has showed you? This is basic Matlab syntax that will often need to use. Why don't you try learning from it, rather than waiting for someone else to make the edits for you?

Answer 2

[balakrishna Gudapati]

[balakrishna Gudapati]

the above one is the output

[balakrishna Gudapati]

but im getting a differenent output can u verify the output

[Rik]

Have a read here and here. It will greatly improve your chances of getting an answer. You can find guidelines for posting homework on this forum here. If you have trouble with Matlab basics you may consider doing the Onramp tutorial (which is provided for free by Mathworks). If your main issue is with understanding the underlying concept, you may consider re-reading the material you teacher provided and ask them for further clarification.