bonjour,
j'essaie depuis tout à l'heure de resoudre ce systeme:
le probleme est que MATLAB calcule pendant pres d'une heure sans donner aucun resultat, je suppose donc que le systeme est trop complexe. comment pourrais-je m'y prendre pour le resoudre alors?Code:>> clear, syms theta1 theta2 theta3 theta4 theta5 theta6 >> eq1='-sin(alphay) = sin(theta5)*cos(theta1)*cos(theta2+theta3)*cos(theta4)+sin(theta5)*sin(theta1)*sin(theta4)+cos(theta1)*sin(theta2+theta3)*cos(theta5)' eq2='cos(alphaz) = (cos(theta6)*cos(theta5)*cos(theta1)*cos(theta2+theta3)*cos(theta4)+cos(theta6)*cos(theta5)*sin(theta1)*sin(theta4)-cos(theta6)*cos(theta1)*sin(theta2+theta3)*sin(theta5)+sin(theta6)*cos(theta1)*cos(theta2+theta3)*sin(theta4)-sin(theta6)*sin(theta1)*cos(theta4))/cos(alphay)' eq3='cos(alphax) = (-sin(theta2+theta3)*cos(theta4)*sin(theta5)+cos(theta2+theta3)*cos(theta5))/cos(alphay)' eq4='x = 249*sin(theta5)*cos(theta1)*cos(theta2+theta3)*cos(theta4)+249*sin(theta5)*sin(theta1)*sin(theta4)+249*cos(theta1)*sin(theta2+theta3)*cos(theta5)-1057*cos(theta1)*sin(theta2+theta3)+165*cos(theta1)*cos(theta2+theta3)+1075*cos(theta1)*cos(theta2)+410*cos(theta1)' eq5='y = 249*sin(theta5)*sin(theta1)*cos(theta2+theta3)*cos(theta4)-249*sin(theta5)*cos(theta1)*sin(theta4)+249*sin(theta1)*sin(theta2+theta3)*cos(theta5)-1057*sin(theta1)*sin(theta2+theta3)+165*sin(theta1)*cos(theta2+theta3)+1075*sin(theta1)*cos(theta2)+410*sin(theta1)' eq6='z = 775-249*sin(theta2+theta3)*cos(theta4)*sin(theta5)+249*cos(theta2+theta3)*cos(theta5)-1057*cos(theta2+theta3)-165*sin(theta2+theta3)-1075*sin(theta2)' eq1 = -sin(alphay) = sin(theta5)*cos(theta1)*cos(theta2+theta3)*cos(theta4)+sin(theta5)*sin(theta1)*sin(theta4)+cos(theta1)*sin(theta2+theta3)*cos(theta5) eq2 = cos(alphaz) = (cos(theta6)*cos(theta5)*cos(theta1)*cos(theta2+theta3)*cos(theta4)+cos(theta6)*cos(theta5)*sin(theta1)*sin(theta4)-cos(theta6)*cos(theta1)*sin(theta2+theta3)*sin(theta5)+sin(theta6)*cos(theta1)*cos(theta2+theta3)*sin(theta4)-sin(theta6)*sin(theta1)*cos(theta4))/cos(alphay) eq3 = cos(alphax) = (-sin(theta2+theta3)*cos(theta4)*sin(theta5)+cos(theta2+theta3)*cos(theta5))/cos(alphay) eq4 = x = 249*sin(theta5)*cos(theta1)*cos(theta2+theta3)*cos(theta4)+249*sin(theta5)*sin(theta1)*sin(theta4)+249*cos(theta1)*sin(theta2+theta3)*cos(theta5)-1057*cos(theta1)*sin(theta2+theta3)+165*cos(theta1)*cos(theta2+theta3)+1075*cos(theta1)*cos(theta2)+410*cos(theta1) eq5 = y = 249*sin(theta5)*sin(theta1)*cos(theta2+theta3)*cos(theta4)-249*sin(theta5)*cos(theta1)*sin(theta4)+249*sin(theta1)*sin(theta2+theta3)*cos(theta5)-1057*sin(theta1)*sin(theta2+theta3)+165*sin(theta1)*cos(theta2+theta3)+1075*sin(theta1)*cos(theta2)+410*sin(theta1) eq6 = z = 775-249*sin(theta2+theta3)*cos(theta4)*sin(theta5)+249*cos(theta2+theta3)*cos(theta5)-1057*cos(theta2+theta3)-165*sin(theta2+theta3)-1075*sin(theta2) >> [theta1 theta2 theta3 theta4 theta5 theta6]=solve(eq1,eq2,eq3,eq4,eq5,eq6,theta1,theta2,theta3,theta4,theta5,theta6)
merci
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