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Re: Problem in Dot Product of 4x4 Matrices with

  • To: mathgroup at smc.vnet.net
  • Subject: [mg95012] Re: [mg95003] Problem in Dot Product of 4x4 Matrices with
  • From: DrMajorBob <btreat1 at austin.rr.com>
  • Date: Sat, 3 Jan 2009 05:54:14 -0500 (EST)
  • References: <200901021155.GAA09238@smc.vnet.net>
  • Reply-to: drmajorbob at longhorns.com

Chop[] the matrix.

Bobby

On Fri, 02 Jan 2009 05:55:19 -0600, Arda Aytekin <ardaaytekin at hotmail.com>  
wrote:

> Hello,
>
> I'm a student studying in the Mechanical Engineering Department of  
> Technical University of Istanbul (ITU).
>
> I'm having problems in Mathematica. I use Mathematica for analyzing a  
> KUKA robot. First, I have to define related reference frames on the  
> robot's links according to DH, and then, I have to find the  
> transformation matrix that maps end-effector {E} to base {0}. When I try  
> to write the transformation matrix between the first two links (a dot  
> product of three 4x4 matrices (1 translation + 2 rotations)),  
> Mathematica writes the products of zero and some transcendental  
> functions like "0.Sin[\[Theta]]", which, in turn, results in a HUGE  
> resultant matrix.
>
> I'm wondering if and/or how I can make Mathematica cancel the related  
> products.. I mean, I don't want any terms multiplied by zero to appear  
> in my resultant matrix.
>
> Thank you for your help..
>



-- 
DrMajorBob at longhorns.com


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