Is it possible that homogenous transformation be complex?

Najmeh Eskandari @Najmeh-Eskandari

13 August 2018 1 2K Report

I simulated inverse kinematic of ur10 and T01,T12,T23,...

are complex .is it true? I attached symbolic kinematic (mfile) and error.

Or David

Dear Mrs. Eskandari,

In a real space, homogenous transformation matrices are real, and therefore can't be complex.

As for your code, the error seems to be caused by the fact that complex() can only recieve a numerical variable (double) and not a symbolic variable.

I also believe that using 'complex()' within the inverse cosine may be incorrect.

Best of luck, Or

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