Code covered by the BSD License

# Using Analytical Tools to Gain Insight and Speed-up Num. Analysis in MATLAB & Symbolic Math Toolbox

### Deepak Ramaswamy (view profile)

28 Jan 2013 (Updated )

files from the webinar

```%% Begin README : Inverse Kinematics of a Two-link Manipulator
% The <http://www.mathworks.com/products/symbolic/description5.html Symbolic Math Notebook app>
% and the <http://www.mathworks.com/products/symbolic/index.html Symbolic Math Toolbox> are
% used to model the inverse kinematics of a two-link manipulator. The
% equations for the manipulator are then brought into Simulink.
%
% <<image/image.PNG>>
%
%
% Copyright 2012 The MathWorks, Inc.
%% References
%
% # Find the related webinar: *Using Analytical Tools to Gain Insight and Speed Up
%  Numerical Analysis in MATLAB* <http://www.mathworks.com/wbnr73465 here>
% # This example is a stripped down version of a larger example that
% <http://www.mathworks.com/company/events/webinars/wbnr66719.html?id=66719&p1=961661812&p2=961661830
% How a Differential Equation Becomes a Robot: Expanding the Power of MATLAB
% with Simulink and the Symbolic Math Toolbox>.
%

%% Solving Inverse Kinematics in the Symbolic Math Notebook
% The inverse kinematics problem is <http://www.mathworks.com/help/symbolic/mupad_ref/solve.html solved> for a two-link manipulator in
% the <http://www.mathworks.com/products/symbolic/description5.html Notebook>. A simple animation is also shown.
%
% <matlab:open('MUInverseKinematics.mn') Open notebook>

%% Solving Inverse Kinematics using Symbolic in MATLAB
% The inverse kinematics problem is solved in MATLAB. A very simple
% animation is performed.
%
% <matlab:open('MLInverseKinematics.m') Open script>
%
% <matlab:MLInverseKinematics Run script>

%% Bring in Symbolic expression from Notebook and convert to a block in Simulink
% The symbolic expression is accessed from the <http://www.mathworks.com/products/symbolic/description5.html Notebook>, and then converted
% into a block in a Simulink project using the
% <http://www.mathworks.com/help/symbolic/matlabfunctionblock.html matlabFunctionBlock>
% function of the <http://www.mathworks.com/products/symbolic/index.html Symbolic Math Toolbox>. It is informative to run the
% script in cell mode
%