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# [已解决] 6元一次参数方程求多解

Mr.yan123 发表于 2022-10-8 09:57:31
 代码如下 syms theta1 theta3 theta4 theta5 theta6  D X Y Z M N eqn = [X*cos(theta1) + Y*sin(theta1)==M*cos(theta3)*cos(theta4) + N*cos(theta6)*(sin(theta3)*sin(theta5) + cos(theta3)*cos(theta4)*cos(theta5)) + N*cos(theta3)*sin(theta4)*sin(theta6) ,        -Z== M*sin(theta4) - N*cos(theta4)*sin(theta6) + N*cos(theta5)*cos(theta6)*sin(theta4),        Y*cos(theta1) - X*sin(theta1)==D - M*cos(theta4)*sin(theta3) + N*cos(theta6)*(cos(theta3)*sin(theta5) - cos(theta4)*cos(theta5)*sin(theta3)) - N*sin(theta3)*sin(theta4)*sin(theta6),        D*sin(theta3) + X*cos(theta1 - theta3) + Y*sin(theta1 - theta3)==M*cos(theta4) + N*sin(theta4)*sin(theta6) + N*cos(theta4)*cos(theta5)*cos(theta6),        Y*cos(theta1 - theta3) - D*cos(theta3) - X*sin(theta1 - theta3)== N*cos(theta6)*sin(theta5),        D*cos(theta4)*sin(theta3) - Z*sin(theta4) - M + X*cos(theta1)*cos(theta3)*cos(theta4) - Y*cos(theta1)*cos(theta4)*sin(theta3) + Y*cos(theta3)*cos(theta4)*sin(theta1) + X*cos(theta4)*sin(theta1)*sin(theta3)==N*cos(theta5)*cos(theta6),        N*sin(theta6)== Z*cos(theta4) + D*sin(theta3)*sin(theta4) + X*cos(theta1)*cos(theta3)*sin(theta4) - Y*cos(theta1)*sin(theta3)*sin(theta4) + Y*cos(theta3)*sin(theta1)*sin(theta4) + X*sin(theta1)*sin(theta3)*sin(theta4),        N*cos(theta6)==D*cos(theta4)*cos(theta5)*sin(theta3) - D*cos(theta3)*sin(theta5) - Z*cos(theta5)*sin(theta4) - M*cos(theta5) + Y*cos(theta1)*cos(theta3)*sin(theta5) + X*cos(theta1)*sin(theta3)*sin(theta5) - X*cos(theta3)*sin(theta1)*sin(theta5) + Y*sin(theta1)*sin(theta3)*sin(theta5) + X*cos(theta1)*cos(theta3)*cos(theta4)*cos(theta5) - Y*cos(theta1)*cos(theta4)*cos(theta5)*sin(theta3) + Y*cos(theta3)*cos(theta4)*cos(theta5)*sin(theta1) + X*cos(theta4)*cos(theta5)*sin(theta1)*sin(theta3),        D*cos(theta3)*cos(theta5) - M*sin(theta5) - Z*sin(theta4)*sin(theta5) - Y*cos(theta1)*cos(theta3)*cos(theta5) + D*cos(theta4)*sin(theta3)*sin(theta5) - X*cos(theta1)*cos(theta5)*sin(theta3) + X*cos(theta3)*cos(theta5)*sin(theta1) - Y*cos(theta5)*sin(theta1)*sin(theta3) + X*cos(theta1)*cos(theta3)*cos(theta4)*sin(theta5) - Y*cos(theta1)*cos(theta4)*sin(theta3)*sin(theta5) + Y*cos(theta3)*cos(theta4)*sin(theta1)*sin(theta5) + X*cos(theta4)*sin(theta1)*sin(theta3)*sin(theta5)==0        ]; answ = solve(eqn, [theta1, theta3, theta4, theta5, theta6,  D]) 这样写怎么算一上午不出来结果，帮帮老弟吧

cbcbcbcb 发表于 2022-10-8 10:43:38
 Mr.yan123 发表于 2022-10-8 10:35 老哥，就是想求带参数的解，M，N是已知的，能否用xyz表示某个theta角，其他的theta用这个角表示呢 ... 老弟，看一下这个帖子吧，对你应该有启发的，基本上是求不出来解析解的，链接如下： https://www.ilovematlab.cn/forum ... read&tid=617669

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shihe 发表于 2022-10-8 10:25:05
 该方程组应该是不存在解析解吧。给出D X Y Z M N的具体数值，用fsolve或vpasolve求数值解

Mr.yan123 发表于 2022-10-8 10:35:55
 shihe 发表于 2022-10-8 10:25 该方程组应该是不存在解析解吧。给出D X Y Z M N的具体数值，用fsolve或vpasolve求数值解 ... 老哥，就是想求带参数的解，M，N是已知的，能否用xyz表示某个theta角，其他的theta用这个角表示呢

cbcbcbcb 发表于 2022-10-8 10:43:38
 Mr.yan123 发表于 2022-10-8 10:35 老哥，就是想求带参数的解，M，N是已知的，能否用xyz表示某个theta角，其他的theta用这个角表示呢 ... 老弟，看一下这个帖子吧，对你应该有启发的，基本上是求不出来解析解的，链接如下： https://www.ilovematlab.cn/forum ... read&tid=617669

Mr.yan123 发表于 2022-10-8 10:44:25
 cbcbcbcb 发表于 2022-10-8 10:43 老弟，看一下这个帖子吧，对你应该有启发的，基本上是求不出来解析解的，链接如下： https://www.ilovema ... 好的老哥
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