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How to shorten these values?

enter image description here

They are the result of a matrix like this. enter image description here

When I individually run sin(theta1) and such functions, it would give me the correct value as a zero or a one (the angles I am working with are 0 or 90 degrees)

In some cases they may go on to be values like 1.574.

I know there is a round off function in MATLAB, but then I would have to add that function to every element individually. Is there any easier way to achieve this?

PS.: ST stands for sin(Theta) SA for Sin(Alpha) CA for cos(Alpha) and so on..

PPS. : I tried eval function, not working at all.

Edit 1: The code I am using is as follows:

init_lib;
clc;
load_robot;

syms q1 q2 q3 q4 q5;

%DH Parameters for the robot:
robot.DH.theta= '[pi/2 pi/2 0 q(4) q(5)]';
robot.DH.d='[q(1) q(2) q(3) 0.1 0.020]';
robot.DH.a='[0 0 0 0 0]';
robot.DH.alpha= '[pi/2 pi/2 0 pi/2 0]';

% We input the joint parameters:
q = [q1 q2 q3 q4 q5];

%Storing the evaulated values of 'q'
Theta=eval(robot.DH.theta);
d=eval(robot.DH.d);
a=eval(robot.DH.a);
alpha=eval(robot.DH.alpha);

A01=dh(Theta(1), d(1), a(1), alpha(1));
A12=dh(Theta(2), d(2), a(2), alpha(2));
A23=dh(Theta(3), d(3), a(3), alpha(3));
A34=dh(Theta(4), d(4), a(4), alpha(4));
A45=dh(Theta(5), d(5), a(5), alpha(5));
A05 = A01*A12*A23*A34*A45;
disp(A05);

Where, dh is a function that comes from a predefined library. It basically substitutes the four values into a generalized form of the matrix I posted as the second image.

How to shorten these values?

enter image description here

They are the result of a matrix like this. enter image description here

When I individually run sin(theta1) and such functions, it would give me the correct value as a zero or a one (the angles I am working with are 0 or 90 degrees)

In some cases they may go on to be values like 1.574.

I know there is a round off function in MATLAB, but then I would have to add that function to every element individually. Is there any easier way to achieve this?

PS.: ST stands for sin(Theta) SA for Sin(Alpha) CA for cos(Alpha) and so on..

PPS. : I tried eval function, not working at all.

Edit 1: The code I am using is as follows:

init_lib;
clc;
load_robot;

%DH Parameters for the robot:
theta= '[pi/2 pi/2 0 q(4) q(5)]';
d='[q(1) q(2) q(3) 0.1 0.020]';
a='[0 0 0 0 0]';
alpha= '[pi/2 pi/2 0 pi/2 0]';

A01=dh(Theta(1), d(1), a(1), alpha(1));
A12=dh(Theta(2), d(2), a(2), alpha(2));
A23=dh(Theta(3), d(3), a(3), alpha(3));
A34=dh(Theta(4), d(4), a(4), alpha(4));
A45=dh(Theta(5), d(5), a(5), alpha(5));
A05 = A01*A12*A23*A34*A45;
disp(A05);

Where, dh is a function that comes from a predefined library. It basically substitutes the four values into a generalized form of the matrix I posted as the second image.

How to shorten these values?

enter image description here

They are the result of a matrix like this. enter image description here

When I individually run sin(theta1) and such functions, it would give me the correct value as a zero or a one (the angles I am working with are 0 or 90 degrees)

In some cases they may go on to be values like 1.574.

I know there is a round off function in MATLAB, but then I would have to add that function to every element individually. Is there any easier way to achieve this?

PS.: ST stands for sin(Theta) SA for Sin(Alpha) CA for cos(Alpha) and so on..

PPS. : I tried eval function, not working at all.

Edit 1: The code I am using is as follows:

init_lib;
clc;
load_robot;

syms q1 q2 q3 q4 q5;

%DH Parameters for the robot:
robot.DH.theta= '[pi/2 pi/2 0 q(4) q(5)]';
robot.DH.d='[q(1) q(2) q(3) 0.1 0.020]';
robot.DH.a='[0 0 0 0 0]';
robot.DH.alpha= '[pi/2 pi/2 0 pi/2 0]';

% We input the joint parameters:
q = [q1 q2 q3 q4 q5];

%Storing the evaulated values of 'q'
Theta=eval(robot.DH.theta);
d=eval(robot.DH.d);
a=eval(robot.DH.a);
alpha=eval(robot.DH.alpha);

A01=dh(Theta(1), d(1), a(1), alpha(1));
A12=dh(Theta(2), d(2), a(2), alpha(2));
A23=dh(Theta(3), d(3), a(3), alpha(3));
A34=dh(Theta(4), d(4), a(4), alpha(4));
A45=dh(Theta(5), d(5), a(5), alpha(5));
A05 = A01*A12*A23*A34*A45;
disp(A05);

Where, dh is a function that comes from a predefined library. It basically substitutes the four values into a generalized form of the matrix I posted as the second image.

2 added 538 characters in body
source | link

How to shorten these values?

enter image description here

They are the result of a matrix like this. enter image description here

When I individually run sin(theta1) and such functions, it would give me the correct value as a zero or a one (the angles I am working with are 0 or 90 degrees)

In some cases they may go on to be values like 1.574.

I know there is a round off function in MATLAB, but then I would have to add that function to every element individually. Is there any easier way to achieve this?

PS.: ST stands for sin(Theta) SA for Sin(Alpha) CA for cos(Alpha) and so on..

PPS. : I tried eval function, not working at all.

Edit 1: The code I am using is as follows:

init_lib;
clc;
load_robot;

%DH Parameters for the robot:
theta= '[pi/2 pi/2 0 q(4) q(5)]';
d='[q(1) q(2) q(3) 0.1 0.020]';
a='[0 0 0 0 0]';
alpha= '[pi/2 pi/2 0 pi/2 0]';

A01=dh(Theta(1), d(1), a(1), alpha(1));
A12=dh(Theta(2), d(2), a(2), alpha(2));
A23=dh(Theta(3), d(3), a(3), alpha(3));
A34=dh(Theta(4), d(4), a(4), alpha(4));
A45=dh(Theta(5), d(5), a(5), alpha(5));
A05 = A01*A12*A23*A34*A45;
disp(A05);

Where, dh is a function that comes from a predefined library. It basically substitutes the four values into a generalized form of the matrix I posted as the second image.

How to shorten these values?

enter image description here

They are the result of a matrix like this. enter image description here

When I individually run sin(theta1) and such functions, it would give me the correct value as a zero or a one (the angles I am working with are 0 or 90 degrees)

In some cases they may go on to be values like 1.574.

I know there is a round off function in MATLAB, but then I would have to add that function to every element individually. Is there any easier way to achieve this?

PS.: ST stands for sin(Theta) SA for Sin(Alpha) CA for cos(Alpha) and so on..

PPS. : I tried eval function, not working at all.

How to shorten these values?

enter image description here

They are the result of a matrix like this. enter image description here

When I individually run sin(theta1) and such functions, it would give me the correct value as a zero or a one (the angles I am working with are 0 or 90 degrees)

In some cases they may go on to be values like 1.574.

I know there is a round off function in MATLAB, but then I would have to add that function to every element individually. Is there any easier way to achieve this?

PS.: ST stands for sin(Theta) SA for Sin(Alpha) CA for cos(Alpha) and so on..

PPS. : I tried eval function, not working at all.

Edit 1: The code I am using is as follows:

init_lib;
clc;
load_robot;

%DH Parameters for the robot:
theta= '[pi/2 pi/2 0 q(4) q(5)]';
d='[q(1) q(2) q(3) 0.1 0.020]';
a='[0 0 0 0 0]';
alpha= '[pi/2 pi/2 0 pi/2 0]';

A01=dh(Theta(1), d(1), a(1), alpha(1));
A12=dh(Theta(2), d(2), a(2), alpha(2));
A23=dh(Theta(3), d(3), a(3), alpha(3));
A34=dh(Theta(4), d(4), a(4), alpha(4));
A45=dh(Theta(5), d(5), a(5), alpha(5));
A05 = A01*A12*A23*A34*A45;
disp(A05);

Where, dh is a function that comes from a predefined library. It basically substitutes the four values into a generalized form of the matrix I posted as the second image.

1
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How to round of these values to 0

How to shorten these values?

enter image description here

They are the result of a matrix like this. enter image description here

When I individually run sin(theta1) and such functions, it would give me the correct value as a zero or a one (the angles I am working with are 0 or 90 degrees)

In some cases they may go on to be values like 1.574.

I know there is a round off function in MATLAB, but then I would have to add that function to every element individually. Is there any easier way to achieve this?

PS.: ST stands for sin(Theta) SA for Sin(Alpha) CA for cos(Alpha) and so on..

PPS. : I tried eval function, not working at all.