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# How to find the function with having input and output?

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azarang asadi on 3 Feb 2020
Closed: MATLAB Answer Bot on 20 Aug 2021
Hey guys,
So I have the end effector global transformation matrix and also joint variables(q). I'm trying to get a function acting between these two, so that by having this function and qs, I can get my end effector g. Generally speaking, I have a matrix q(7,1) and a matrix g(4,4) and I'm trying to find the fuction as g = F(q). I need g.
q=[pi/6;pi/6;pi/6;pi/2;0;0;0]; %some example joint angles
g = [ -0.4330, -0.8080, 0.3995, 0.4194;
-0.2500, 0.5335, 0.8080, 0.4760;
-0.8660, 0.2500, -0.4330, 0.3399;
0, 0 , 0, 1];
Here's the matrices.
Thanks

Sai Bhargav Avula on 21 Feb 2020
Hi,
It is not possible to estimate F as the relationship might be linear, non-linear etc., if you have a set of data then you can use curve fitting algorithm to find F. Or otherwise if you have some equation relating them then you can solve for the unknow parameters using the information you have
Hope this helps!