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MATLAB Command Window

The document shows the results of operations in MATLAB to define and manipulate symbolic matrices involving trigonometric functions of symbolic variables. Several 3x3 and 4x4 matrices are defined involving combinations of sin and cos terms of variables like o1, o2, etc. These matrices are then multiplied together and the result is simplified, producing a long expression involving sums and differences of the symbolic variables.

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IceCold
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41 views4 pages

MATLAB Command Window

The document shows the results of operations in MATLAB to define and manipulate symbolic matrices involving trigonometric functions of symbolic variables. Several 3x3 and 4x4 matrices are defined involving combinations of sin and cos terms of variables like o1, o2, etc. These matrices are then multiplied together and the result is simplified, producing a long expression involving sums and differences of the symbolic variables.

Uploaded by

IceCold
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 4

25/09/15 17:53

MATLAB Command Window

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>> syms t
>> o1 = sym('o1(t)'); o2 = sym('o2(t)'); o3 = sym('o3(t)'); o4 = sym('o4(t)'); o5 = sym
('o5(t)'); o6 = sym('o6(t)');
>> a1 = [ cos(o1) -sin(o1) 0 0; sin(o1) cos(o1) 0 0; 0 0 1 0; 0 0 0 1]
a1 =
[ cos(o1(t)), -sin(o1(t)), 0, 0]
[ sin(o1(t)), cos(o1(t)), 0, 0]
[
0,
0, 1, 0]
[
0,
0, 0, 1]
>> syms A2 D2 D4 A3;
>> a2 = [ cos(o2) -sin(o2) 0 A2*cos(o3); sin(o2) cos(o2) 0
1]

A2*sin(o3) ; 0 0 1 D2; 0 0 0

a2 =
[ cos(o2(t)), -sin(o2(t)), 0, A2*cos(o3(t))]
[ sin(o2(t)), cos(o2(t)), 0, A2*sin(o3(t))]
[
0,
0, 1,
D2]
[
0,
0, 0,
1]
>> a3 = [ cos(o3) -sin(o3) 0 A2*cos(o3); sin(o3) cos(o3) 0
1]

A2*sin(o3) ; 0 0 1 D2; 0 0 0

a3 =
[ cos(o3(t)), -sin(o3(t)), 0, A2*cos(o3(t))]
[ sin(o3(t)), cos(o3(t)), 0, A2*sin(o3(t))]
[
0,
0, 1,
D2]
[
0,
0, 0,
1]
>> a2 =[ cos(o2) -sin(o2) 0 0; sin(o2) cos(o2) 0 0; 0 1 0 0; 0 0 0 1]
a2 =
[ cos(o2(t)), -sin(o2(t)), 0, 0]
[ sin(o2(t)), cos(o2(t)), 0, 0]
[
0,
1, 0, 0]
[
0,
0, 0, 1]
>> a2 =[ cos(o2) 0 sin(o2)

0; sin(o2) 0 -cos(o2) 0; 0 1 0 0; 0 0 0 1]

a2 =
[ cos(o2(t)), 0, sin(o2(t)), 0]
[ sin(o2(t)), 0, -cos(o2(t)), 0]
[
0, 1,
0, 0]
[
0, 0,
0, 1]

25/09/15 17:53

MATLAB Command Window

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>> a3
a3 =
[ cos(o3(t)), -sin(o3(t)), 0, A2*cos(o3(t))]
[ sin(o3(t)), cos(o3(t)), 0, A2*sin(o3(t))]
[
0,
0, 1,
D2]
[
0,
0, 0,
1]
>> a4 = [ cos(o4) 0 sin(o4)

A3*cos(o4); sin(o4) 0 -cos(o4) A3*sin(o4); 0 1 0 0; 0 0 0 1]

a4 =
[ cos(o4(t)), 0, sin(o4(t)), A3*cos(o4(t))]
[ sin(o4(t)), 0, -cos(o4(t)), A3*sin(o4(t))]
[
0, 1,
0,
0]
[
0, 0,
0,
1]
>> a5 =[ cos(o5) 0 sin(o5)

0; sin(o5) 0 -cos(o5) 0; 0 1 0 D4; 0 0 0 1]

a5 =
[ cos(o5(t)), 0, sin(o5(t)), 0]
[ sin(o5(t)), 0, -cos(o5(t)), 0]
[
0, 1,
0, D4]
[
0, 0,
0, 1]
>> a6 = [ cos(o6) 0 sin(o6)

0; sin(o6) 0 -cos(o6) 0; 0 1 0 0; 0 0 0 1]

a6 =
[ cos(o6(t)), 0, sin(o6(t)), 0]
[ sin(o6(t)), 0, -cos(o6(t)), 0]
[
0, 1,
0, 0]
[
0, 0,
0, 1]
>> a1*a2*a3*a4*a5*a6
ans =
[ cos(o6(t))*(sin(o5(t))*(cos(o1(t))*sin(o2(t)) + cos(o2(t))*sin(o1(t))) - cos(o5(t))*
(cos(o3(t))*cos(o4(t))*(sin(o1(t))*sin(o2(t)) - cos(o1(t))*cos(o2(t))) - sin(o3(t))*sin
(o4(t))*(sin(o1(t))*sin(o2(t)) - cos(o1(t))*cos(o2(t))))) - sin(o6(t))*(cos(o3(t))*sin(o4
(t))*(sin(o1(t))*sin(o2(t)) - cos(o1(t))*cos(o2(t))) + cos(o4(t))*sin(o3(t))*(sin(o1(t))
*sin(o2(t)) - cos(o1(t))*cos(o2(t)))), - sin(o5(t))*(cos(o3(t))*cos(o4(t))*(sin(o1(t))
*sin(o2(t)) - cos(o1(t))*cos(o2(t))) - sin(o3(t))*sin(o4(t))*(sin(o1(t))*sin(o2(t)) - cos
(o1(t))*cos(o2(t)))) - cos(o5(t))*(cos(o1(t))*sin(o2(t)) + cos(o2(t))*sin(o1(t))), cos(o6
(t))*(cos(o3(t))*sin(o4(t))*(sin(o1(t))*sin(o2(t)) - cos(o1(t))*cos(o2(t))) + cos(o4(t))
*sin(o3(t))*(sin(o1(t))*sin(o2(t)) - cos(o1(t))*cos(o2(t)))) + sin(o6(t))*(sin(o5(t))*
(cos(o1(t))*sin(o2(t)) + cos(o2(t))*sin(o1(t))) - cos(o5(t))*(cos(o3(t))*cos(o4(t))*(sin
(o1(t))*sin(o2(t)) - cos(o1(t))*cos(o2(t))) - sin(o3(t))*sin(o4(t))*(sin(o1(t))*sin(o2

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MATLAB Command Window

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(t)) - cos(o1(t))*cos(o2(t))))), D2*(cos(o1(t))*sin(o2(t)) + cos(o2(t))*sin(o1(t))) - D4*


(cos(o3(t))*sin(o4(t))*(sin(o1(t))*sin(o2(t)) - cos(o1(t))*cos(o2(t))) + cos(o4(t))*sin
(o3(t))*(sin(o1(t))*sin(o2(t)) - cos(o1(t))*cos(o2(t)))) - A2*cos(o3(t))*(sin(o1(t))*sin
(o2(t)) - cos(o1(t))*cos(o2(t))) - A3*cos(o3(t))*cos(o4(t))*(sin(o1(t))*sin(o2(t)) - cos
(o1(t))*cos(o2(t))) + A3*sin(o3(t))*sin(o4(t))*(sin(o1(t))*sin(o2(t)) - cos(o1(t))*cos(o2
(t)))]
[ sin(o6(t))*(cos(o3(t))*sin(o4(t))*(cos(o1(t))*sin(o2(t)) + cos(o2(t))*sin(o1(t))) + cos
(o4(t))*sin(o3(t))*(cos(o1(t))*sin(o2(t)) + cos(o2(t))*sin(o1(t)))) + cos(o6(t))*(sin(o5
(t))*(sin(o1(t))*sin(o2(t)) - cos(o1(t))*cos(o2(t))) + cos(o5(t))*(cos(o3(t))*cos(o4(t))*
(cos(o1(t))*sin(o2(t)) + cos(o2(t))*sin(o1(t))) - sin(o3(t))*sin(o4(t))*(cos(o1(t))*sin
(o2(t)) + cos(o2(t))*sin(o1(t))))),
sin(o5(t))*(cos(o3(t))*cos(o4(t))*(cos(o1(t))*sin
(o2(t)) + cos(o2(t))*sin(o1(t))) - sin(o3(t))*sin(o4(t))*(cos(o1(t))*sin(o2(t)) + cos(o2
(t))*sin(o1(t)))) - cos(o5(t))*(sin(o1(t))*sin(o2(t)) - cos(o1(t))*cos(o2(t))), sin(o6
(t))*(sin(o5(t))*(sin(o1(t))*sin(o2(t)) - cos(o1(t))*cos(o2(t))) + cos(o5(t))*(cos(o3(t))
*cos(o4(t))*(cos(o1(t))*sin(o2(t)) + cos(o2(t))*sin(o1(t))) - sin(o3(t))*sin(o4(t))*(cos
(o1(t))*sin(o2(t)) + cos(o2(t))*sin(o1(t))))) - cos(o6(t))*(cos(o3(t))*sin(o4(t))*(cos(o1
(t))*sin(o2(t)) + cos(o2(t))*sin(o1(t))) + cos(o4(t))*sin(o3(t))*(cos(o1(t))*sin(o2(t)) +
cos(o2(t))*sin(o1(t)))), D4*(cos(o3(t))*sin(o4(t))*(cos(o1(t))*sin(o2(t)) + cos(o2(t))
*sin(o1(t))) + cos(o4(t))*sin(o3(t))*(cos(o1(t))*sin(o2(t)) + cos(o2(t))*sin(o1(t)))) +
D2*(sin(o1(t))*sin(o2(t)) - cos(o1(t))*cos(o2(t))) + A2*cos(o3(t))*(cos(o1(t))*sin(o2(t))
+ cos(o2(t))*sin(o1(t))) + A3*cos(o3(t))*cos(o4(t))*(cos(o1(t))*sin(o2(t)) + cos(o2(t))
*sin(o1(t))) - A3*sin(o3(t))*sin(o4(t))*(cos(o1(t))*sin(o2(t)) + cos(o2(t))*sin(o1(t)))]
[
sin(o6(t))*(sin(o3(t))*sin(o4(t)) - cos(o3(t))*cos(o4(t))) + cos(o5(t))*cos(o6(t))*(cos
(o3(t))*sin(o4(t)) + cos(o4(t))*sin(o3(t))),
sin(o5(t))*(cos(o3(t))*sin(o4(t)) + cos(o4(t))*sin(o3(t))),
cos(o5(t))*sin(o6(t))*(cos(o3(t))*sin(o4(t)) + cos(o4(t))*sin(o3(t))) - cos(o6(t))*(sin
(o3(t))*sin(o4(t)) - cos(o3(t))*cos(o4(t))),
A2*sin(o3(t)) + D4*(sin(o3(t))*sin(o4(t)) - cos(o3(t))*cos(o4(t))) + A3*cos(o3(t))*sin(o4
(t)) + A3*cos(o4(t))*sin(o3(t))]
[
0,
0,
0,
1]
>> simplify(ans)
ans =
[ cos(o6(t))*(sin(o5(t))*sin(o1(t) + o2(t)) + cos(o5(t))*cos(o1(t) + o2(t))*cos(o3(t) +
o4(t))) + sin(o6(t))*cos(o1(t) + o2(t))*sin(o3(t) + o4(t)), sin(o5(t))*cos(o1(t) + o2(t))
*cos(o3(t) + o4(t)) - cos(o5(t))*sin(o1(t) + o2(t)),
sin(o6(t))*(sin(o5(t))*sin(o1(t) +
o2(t)) + cos(o5(t))*cos(o1(t) + o2(t))*cos(o3(t) + o4(t))) - cos(o6(t))*cos(o1(t) + o2
(t))*sin(o3(t) + o4(t)), D2*sin(o1(t) + o2(t)) + A2*cos(o3(t))*cos(o1(t) + o2(t)) +
A3*cos(o1(t) + o2(t))*cos(o3(t) + o4(t)) + D4*cos(o1(t) + o2(t))*sin(o3(t) + o4(t))]
[ sin(o6(t))*sin(o1(t) + o2(t))*sin(o3(t) + o4(t)) - cos(o6(t))*(sin(o5(t))*cos(o1(t) +
o2(t)) - cos(o5(t))*cos(o3(t) + o4(t))*sin(o1(t) + o2(t))), cos(o5(t))*cos(o1(t) + o2(t))
+ sin(o5(t))*cos(o3(t) + o4(t))*sin(o1(t) + o2(t)), - sin(o6(t))*(sin(o5(t))*cos(o1(t) +
o2(t)) - cos(o5(t))*cos(o3(t) + o4(t))*sin(o1(t) + o2(t))) - cos(o6(t))*sin(o1(t) + o2
(t))*sin(o3(t) + o4(t)), A2*cos(o3(t))*sin(o1(t) + o2(t)) - D2*cos(o1(t) + o2(t)) +

25/09/15 17:53

MATLAB Command Window

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A3*cos(o3(t) + o4(t))*sin(o1(t) + o2(t)) + D4*sin(o1(t) + o2(t))*sin(o3(t) + o4(t))]


[
sin(o6(t))*(sin(o3(t))*sin(o4(t)) - cos(o3(t))*cos(o4(t))) + cos(o5(t))
*cos(o6(t))*(cos(o3(t))*sin(o4(t)) + cos(o4(t))*sin(o3(t))),
sin(o5(t))*sin(o3(t) + o4(t)),
cos(o5(t))*sin(o6(t))*(cos(o3(t))*sin(o4
(t)) + cos(o4(t))*sin(o3(t))) - cos(o6(t))*(sin(o3(t))*sin(o4(t)) - cos(o3(t))*cos(o4
(t))),
A3*sin(o3(t) + o4(t)) - D4*cos(o3(t) + o4(t)) + A2*sin(o3(t))]
[
0,
0,
0,
1]
>>

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