Question

function DH_MatrixTest2(LN);

syms L6 L4
L4=4; L6=0.5; L5=3.5;

%This inputs the form of [Nx,Ox,Ax,Px;Ny,Oy,Ay,Py;Nz,Oz,Az,Pz;0,0,0,1] into
%the function-> DH_MatrixTest(([Nx,Ox,Ax,Px;Ny,Oy,Ay,Py;Nz,Oz,Az]))
Nx=(LN(1,1));
Ny(LN(1,2));
Nz(LN(1,3));
Ox(LN(1,4));
Oy(LN(1,5));
Oz=(LN(1,6));

Ax=(LN(1,7));
Ay=(LN(1,8));
Az=(LN(1,9));
Px=(LN(1,10));
Py=(LN(1,11));
Pz=(LN(1,12));

T_matrix=[Nx,Ox,Ax,Px; Ny,Oy,Ay,Py; Nz,Oz,Az,Pz; 0,0,0,1]                                             %display the original T %matrix
theta1=(atan2d(Py,Px))
% theta1=theta1 + pi

theta234=(atan2d(Az,Ax*cosd(theta1)+Ay*sind(theta1)))                                                    %display theta234
%theta234=theta234 + pi

C3=((Px*cosd(theta1)+Py*sind(theta1)-cosd(theta234)*L6)^2 +(Pz-sind(theta234))^2 -L4^2 - L5^2)/(2*L4*L5) %display C3
S3=(1-C3^2)^.5                                                                                                  %display S3

theta3=atan2d(S3,C3)                                                                                            %display theta3

%display theta2 below:
theta2=atan2d(((C3*L5+L4)*(Pz-sind(theta234)*L6) - S3*L5*(Px*cosd(theta1)+Py*sind(theta1) - cosd(theta234)*L6)), ((C3*L5+L4)*(Px*cosd(theta1)+Py*sind(theta1) - cosd(theta234)*L6) + S3*L5*(Pz-sind(theta234)*L6)))

%display theta4 below:
theta4=theta234-theta2-theta3

%display theta5 below:
theta5=atan2d((cosd(theta234)*(cosd(theta1)*Ax + sind(theta1)*Ay)+sind(theta234)*Az),(sind(theta1)*Ax - cosd(theta1)*Ay))

%display theta6 below:
theta6=atan2d((-sind(theta234)*(cosd(theta1)*Nx + sind(theta1)*Ny)+cosd(theta234)*Nz),-sind(theta234)*(cosd(theta1)*Ox + sind(theta1)*Oy)+cosd(theta234)*Oz)

%display the UTH matrix from obtaining all thetas
UTH_matrix=[cosd(theta1)*(cosd(theta234)*cosd(theta5)*cosd(theta6) - sind(theta234)*sind(theta6)) - sind(theta1)*sind(theta5)*cosd(theta6), cosd(theta1)*((-cosd(theta234)*cosd(theta5)*sind(theta6)) - sind(theta234)*cosd(theta6)) ...
    + sind(theta1)*sind(theta5)*sind(theta6), cosd(theta1)*(cosd(theta234)*sind(theta5))+ sind(theta1)*cosd(theta5), cosd(theta1)*(cosd(theta234)*L6 + cosd(theta2+theta3)*L5 + cosd(theta2)*L4);...
    sind(theta1)*(cosd(theta234)*cosd(theta5)*cosd(theta6) - sind(theta234)*sind(theta6)) + cosd(theta1)*sind(theta5)*cosd(theta6), ...
    sind(theta1)*((-cosd(theta234)*cosd(theta5)*sind(theta6)) - sind(theta234)*cosd(theta6)) - cosd(theta1)*sind(theta5)*sind(theta6),...
    sind(theta1)*(cosd(theta234)*sind(theta5)) - cosd(theta1)*cosd(theta5), sind(theta1)*(cosd(theta234)*L6 + cosd(theta2+theta3)*L5 + cosd(theta2)*L4);...
    sind(theta234)*cosd(theta5)*cosd(theta6) + cosd(theta234)*sind(theta6), -sind(theta234)*cosd(theta5)*sind(theta6)+cosd(theta234)*cosd(theta6), sind(theta234)*sind(theta5), ...
    sind(theta234)*L6 + sind(theta2+theta3)*L5 + sind(theta2)*L4; 0,0,0,1]
  
%display the UTH matrix after rounding:
%We note that the UTH matrix should be the same as the T matrix displayed
%at the beginning of the code.

UTH_matrix=round(UTH_matrix);

x1=(cosd(theta1)*(cosd(theta234)*L6 + cosd(theta2+theta3)*L5 + cosd(theta2)*L4));
y1=(sind(theta1)*(cosd(theta234)*L6 + cosd(theta2+theta3)*L5 + cosd(theta2)*L4));
z1=(sind(theta234)*L6 + sind(theta2+theta3)*L5 + sind(theta2)*L4);

z=0:0.02:1;
z1=z1+z;

plot3(x1,y1,z1-1,'*')
grid on;

txt1=' Point A ';
text(1,6,4,txt1);
txt2=' Point B';
text(1,6,5+0.1,txt2);

xlabel('x-axis');
ylabel('y-axis');
zlabel('z-axis');
title('Ideal Trajectory Path of point A to point B of 6-DOF Manipulator');

WHEN I AM TRYING TO RUN IT I GET

THIS ERROR CAN ANYONE SOLVE IT PLEASE!

it is the function that i calling in the top

function DH_MatrixTest2(LN); THIS ONE

i created it function to Trajectory Path of point A to point B of 6-DOF Manipulator

but it doenst work , when i use it here , it give error i think because i am sending two parameters but i dont know how can i fix it .

i need this Nx=(LN(1,1)); i need to change those in order to make it works

%This inputs the form of [Nx,Ox,Ax,Px;Ny,Oy,Ay,Py;Nz,Oz,Az,Pz;0,0,0,1] into
%the function-> DH_MatrixTest(([Nx,Ox,Ax,Px;Ny,Oy,Ay,Py;Nz,Oz,Az]))
Nx=(LN(1,1));
Ny(LN(1,2));
Nz(LN(1,3));
Ox(LN(1,4));
Oy(LN(1,5));
Oz=(LN(1,6));

Ax=(LN(1,7));
Ay=(LN(1,8));
Az=(LN(1,9));
Px=(LN(1,10));
Py=(LN(1,11));
Pz=(LN(1,12));

>>DH MatrixTest2 Not enough input arguments. Error in DH MatrixTest2 line 78)

Answer 1

function DH_MatrixTest2(LN);

syms L6 L4
L4=4; L6=0.5; L5=3.5;

%This inputs the form of [Nx,Ox,Ax,Px;Ny,Oy,Ay,Py;Nz,Oz,Az,Pz;0,0,0,1] into
%the function-> DH_MatrixTest(([Nx,Ox,Ax,Px;Ny,Oy,Ay,Py;Nz,Oz,Az]))
Nx=(LN(1,1));
Ny(LN(1,2));
Nz(LN(1,3));
Ox(LN(1,4));
Oy(LN(1,5));
Oz=(LN(1,6));

Ax=(LN(1,7));
Ay=(LN(1,8));
Az=(LN(1,9));
Px=(LN(1,10));
Py=(LN(1,11));
Pz=(LN(1,12));

T_matrix=[Nx,Ox,Ax,Px; Ny,Oy,Ay,Py; Nz,Oz,Az,Pz; 0,0,0,1] %display the original T %matrix
theta1=(atan2d(Py,Px))
% theta1=theta1 + pi

theta234=(atan2d(Az,Ax*cosd(theta1)+Ay*sind(theta1))) %display theta234
%theta234=theta234 + pi

C3=((Px*cosd(theta1)+Py*sind(theta1)-cosd(theta234)*L6)^2 +(Pz-sind(theta234))^2 -L4^2 - L5^2)/(2*L4*L5) %display C3
S3=(1-C3^2)^.5 %display S3

theta3=atan2d(S3,C3) %display theta3

%display theta2 below:
theta2=atan2d(((C3*L5+L4)*(Pz-sind(theta234)*L6) - S3*L5*(Px*cosd(theta1)+Py*sind(theta1) - cosd(theta234)*L6)), ((C3*L5+L4)*(Px*cosd(theta1)+Py*sind(theta1) - cosd(theta234)*L6) + S3*L5*(Pz-sind(theta234)*L6)))

%display theta4 below:
theta4=theta234-theta2-theta3

%display theta5 below:
theta5=atan2d((cosd(theta234)*(cosd(theta1)*Ax + sind(theta1)*Ay)+sind(theta234)*Az),(sind(theta1)*Ax - cosd(theta1)*Ay))

%display theta6 below:
theta6=atan2d((-sind(theta234)*(cosd(theta1)*Nx + sind(theta1)*Ny)+cosd(theta234)*Nz),-sind(theta234)*(cosd(theta1)*Ox + sind(theta1)*Oy)+cosd(theta234)*Oz)

%display the UTH matrix from obtaining all thetas
UTH_matrix=[cosd(theta1)*(cosd(theta234)*cosd(theta5)*cosd(theta6) - sind(theta234)*sind(theta6)) - sind(theta1)*sind(theta5)*cosd(theta6), cosd(theta1)*((-cosd(theta234)*cosd(theta5)*sind(theta6)) - sind(theta234)*cosd(theta6)) ...
+ sind(theta1)*sind(theta5)*sind(theta6), cosd(theta1)*(cosd(theta234)*sind(theta5))+ sind(theta1)*cosd(theta5), cosd(theta1)*(cosd(theta234)*L6 + cosd(theta2+theta3)*L5 + cosd(theta2)*L4);...
sind(theta1)*(cosd(theta234)*cosd(theta5)*cosd(theta6) - sind(theta234)*sind(theta6)) + cosd(theta1)*sind(theta5)*cosd(theta6), ...
sind(theta1)*((-cosd(theta234)*cosd(theta5)*sind(theta6)) - sind(theta234)*cosd(theta6)) - cosd(theta1)*sind(theta5)*sind(theta6),...
sind(theta1)*(cosd(theta234)*sind(theta5)) - cosd(theta1)*cosd(theta5), sind(theta1)*(cosd(theta234)*L6 + cosd(theta2+theta3)*L5 + cosd(theta2)*L4);...
sind(theta234)*cosd(theta5)*cosd(theta6) + cosd(theta234)*sind(theta6), -sind(theta234)*cosd(theta5)*sind(theta6)+cosd(theta234)*cosd(theta6), sind(theta234)*sind(theta5), ...
sind(theta234)*L6 + sind(theta2+theta3)*L5 + sind(theta2)*L4; 0,0,0,1]
  
%display the UTH matrix after rounding:
%We note that the UTH matrix should be the same as the T matrix displayed
%at the beginning of the code.

UTH_matrix=round(UTH_matrix);

x1=(cosd(theta1)*(cosd(theta234)*L6 + cosd(theta2+theta3)*L5 + cosd(theta2)*L4));
y1=(sind(theta1)*(cosd(theta234)*L6 + cosd(theta2+theta3)*L5 + cosd(theta2)*L4));
z1=(sind(theta234)*L6 + sind(theta2+theta3)*L5 + sind(theta2)*L4);

z=0:0.02:1;
z1=z1+z;

plot3(x1,y1,z1-1,'*')
grid on;

txt1=' Point A ';
text(1,6,4,txt1);
txt2=' Point B';
text(1,6,5+0.1,txt2);

xlabel('x-axis');
ylabel('y-axis');
zlabel('z-axis');
title('Ideal Trajectory Path of point A to point B of 6-DOF Manipulator');

% end of function

When executing the code you are not passing any input to function DH_MatrixTest2, hence it results into an error. Don't Run the function script from the tools, since it accepts input.

Go to command line and run

>> DH_MatrixTest2(<pass the matrix>)