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formatted code for readability

edit approved Jan 26, 2018 at 15:25

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inverse kinematics matlab RVC for 3 joint RRR

Hi im having problem with Inverse kinematic using RVC toolbox in matlab for RRR manipulator.

 L_1 = 20;
 L_2 = 50;
 L_3 = 40;
 L(1) = Link([0 L_1 0 pi/2]);
 L(2) = Link([0 0 L_2 0]);
 L(3) = Link([0 0 L_3 0]);
 Robot = SerialLink(L);
 Robot.name = 'RRR_Robot';
 T = [1 0 0 0; 0 1 0 0; 0 0 1 0; 0 0 0 1];
 J = Robot.ikine(T, [0,0,0], [1 1 1 0 0 0]) *180/pi;

Error using SerialLink/ikine (line 164) Number of robot DOF must be >= the same number of 1s in the mask matrix

Can somone explain me why my code is not working? / how to fix it ?

asked Jan 26, 2018 at 15:19

Maciej Zaręba