Part 5-- reverse_solv_5.m

function [p_vec]=reverse_solv_5(x,y,theta)
%provides solutions (p1,p2,p3) of Stewart platform inverse kinematics
%problem, given x, y, and theta (for part 5)


%platform sizes and parameters for the given problem
L_1=3;
L_2=3*sqrt(2);
L_3=L_1;

%p_1= UNKNOWN-- checking!
%p_2= UNKNOWN-- checking!
%p_3= UNKNOWN-- checking!

x_1=5;

x_2=0;
y_2=6;

gamma=pi*(1/4);


%equation definitions from 1.38
A_2=L_3*cos(theta)-x_1;
B_2=L_3*sin(theta);
A_3=L_2*cos(theta+gamma)-x_2;
B_3=L_2*sin(theta+gamma)-y_2;


%solve p1, p2, p3 from 1.38
p_1=sqrt(x^2+y^2);
p_2=sqrt((x+A_2)^2+(y+B_2)^2);
p_3=sqrt((x+A_3)^2+(y+B_3)^2);


%combine into single vector
p_vec=[p_1 p_2 p_3];
end

Not enough input arguments.

Error in reverse_solv_5 (line 25)
A_2=L_3*cos(theta)-x_1;

Published with MATLAB® R2017b