0
$\begingroup$

When I'm trying to calculate the value of DP, it subtracts the PCurrent matrix from each element of PGoal. What am I doing wrong?

OP4 = MatrixForm[{Cos[
      T1] (L1 + L2 Cos[T2] + L3 Cos[T2 + T3]), (L1 + L2 Cos[T2] + 
       L3 Cos[T2 + T3]) Sin[T1], L2 Sin[T2] + L3 Sin[T2 + T3]}];
OP4 = OP4 /. {L1 -> 0.3, L2 -> 0.3, L3 -> 0.15}
Print["OP4=", MatrixForm[OP4]];
OJTrans = 
  MatrixForm[{{(-(L1 + L2 Cos[T2] + L3 Cos[T2 + T3])) Sin[T1], 
     Cos[T1] ((-L2) Sin[T2] - L3 Sin[T2 + T3]), ((-L3) Cos[T1]) Sin[
       T2 + T3]}, {Cos[T1] (L1 + L2 Cos[T2] + L3 Cos[T2 + T3]), 
     Sin[T1] ((-L2) Sin[T2] - L3 Sin[T2 + T3]), ((-L3) Sin[T1]) Sin[
       T2 + T3]}, {0, L2 Cos[T2] + L3 Cos[T2 + T3], L3 Cos[T2 + T3]}}];
OJTrans = OJTrans /. {L1 -> 0.3, L2 -> 0.3, L3 -> 0.15}
ThetaInitial = {{0}, {Pi/4}, {Pi/2}};
PGoal = {{0.35}, {0.05}, {0.35}};
Print["PGO=", MatrixForm[PGoal]];
ThetaEstimate = ThetaInitial;
For[i = 1, i <= 5, i++,
  Print["IterationNumber", i];
  PCurrent = 
   OP4 /. {T1 -> ThetaEstimate[[1, 1]], T2 -> ThetaEstimate[[2, 1]], 
     T3 -> ThetaEstimate[[3, 1]]};
  Print["PCurrent=", MatrixForm[PCurrent]];
  DP = PGoal - PCurrent;
  Print["DP=", MatrixForm[DP]];
  ];

This is what i'm getting

SequenceForm["DP=", 
MatrixForm[{{
   0.35 - MatrixForm[{0.4060660171779821, 0., 0.3181980515339463}]}, {
   0.05 - MatrixForm[{0.4060660171779821, 0., 0.3181980515339463}]}, {
   0.35 - MatrixForm[{0.4060660171779821, 0., 0.3181980515339463}]}}]]
$\endgroup$
0
$\begingroup$

Do not include wrappers (e.g., MatrixForm) within definitions. Use MatrixForm[mat = {...}]rather than mat = MatrixForm[{ ... }]

Clear["Global`*"]

OP4 = {Cos[
     T1] (L1 + L2 Cos[T2] + L3 Cos[T2 + T3]), (L1 + L2 Cos[T2] + 
      L3 Cos[T2 + T3]) Sin[T1], L2 Sin[T2] + L3 Sin[T2 + T3]};
OP4 = OP4 /. {L1 -> 0.3, L2 -> 0.3, L3 -> 0.15};
Print["OP4=", MatrixForm[OP4]];

enter image description here

OJTrans = {{(-(L1 + L2 Cos[T2] + L3 Cos[T2 + T3])) Sin[T1], 
    Cos[T1] ((-L2) Sin[T2] - L3 Sin[T2 + T3]), ((-L3) Cos[T1]) Sin[
      T2 + T3]}, {Cos[T1] (L1 + L2 Cos[T2] + L3 Cos[T2 + T3]), 
    Sin[T1] ((-L2) Sin[T2] - L3 Sin[T2 + T3]), ((-L3) Sin[T1]) Sin[
      T2 + T3]}, {0, L2 Cos[T2] + L3 Cos[T2 + T3], L3 Cos[T2 + T3]}};
OJTrans = OJTrans /. {L1 -> 0.3, L2 -> 0.3, L3 -> 0.15};
ThetaInitial = {{0}, {Pi/4}, {Pi/2}};
PGoal = {{0.35}, {0.05}, {0.35}};
Print["PGO=", MatrixForm[PGoal]];

enter image description here

ThetaEstimate = ThetaInitial;
For[i = 1, i <= 5, i++, Print["IterationNumber", i];
  PCurrent = 
   OP4 /. {T1 -> ThetaEstimate[[1, 1]], T2 -> ThetaEstimate[[2, 1]], 
     T3 -> ThetaEstimate[[3, 1]]};
  Print["PCurrent=", MatrixForm[PCurrent]];
  DP = PGoal - PCurrent;
  Print["DP=", MatrixForm[DP]];];

enter image description here

| improve this answer | |
$\endgroup$
  • $\begingroup$ Thanks. That helped. I'm just new to Mathematica so I'm still trying to find my way through it. $\endgroup$ – user10158623 Oct 14 '19 at 0:06

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service, privacy policy and cookie policy

Not the answer you're looking for? Browse other questions tagged or ask your own question.