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/*
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@licstart The following is the entire license notice for the
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Copyright (C) 2012-2020 Free Software Foundation, Inc.
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The JavaScript code in this tag is free software: you can
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<body>
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<div id="org-div-home-and-up">
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<a accesskey="h" href="./index.html"> UP </a>
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<a accesskey="h" href="../index.html"> UP </a>
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<a accesskey="H" href="./index.html"> HOME </a>
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<a accesskey="H" href="../index.html"> HOME </a>
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</div><div id="content">
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<h1 class="title">Gravity with Simscape Models</h1>
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<div id="table-of-contents">
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<h2>Table of Contents</h2>
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<div id="text-table-of-contents">
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<ul>
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<li><a href="#org0f80193">1. Simulink</a></li>
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<li><a href="#org79741d0">2. Initial Simulation</a></li>
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<li><a href="#orgd01c539">3. Change the equilibrium position</a></li>
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<li><a href="#orgb51ac59">4. Add external force</a></li>
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<li><a href="#orgfff3605">5. Change initial position</a></li>
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<li><a href="#orge503273">6. Conclusion</a></li>
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<li><a href="#orgda17389">1. Simulink</a></li>
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<li><a href="#org926dcda">2. Initial Simulation</a></li>
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<li><a href="#org37a8a81">3. Change the equilibrium position</a></li>
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<li><a href="#org542e71a">4. Add external force</a></li>
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<li><a href="#org28c0d05">5. Change initial position</a></li>
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<li><a href="#orgc1f6457">6. Conclusion</a></li>
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</ul>
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</div>
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</div>
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@@ -303,15 +68,15 @@ Then, the simulation will start at equilibrium, but all the elements will be &ld
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The three solutions are tested below.
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</p>
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<div class="note">
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<div class="note" id="orgaf7b6a0">
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<p>
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All the files (data and Matlab scripts) are accessible <a href="data/simscape_gravity.zip">here</a>.
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</p>
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</div>
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<div id="outline-container-org0f80193" class="outline-2">
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<h2 id="org0f80193"><span class="section-number-2">1</span> Simulink</h2>
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<div id="outline-container-orgda17389" class="outline-2">
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<h2 id="orgda17389"><span class="section-number-2">1</span> Simulink</h2>
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<div class="outline-text-2" id="text-1">
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<div class="org-src-container">
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<pre class="src src-matlab">open <span class="org-string">'gravity_test.slx'</span>
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@@ -319,7 +84,7 @@ All the files (data and Matlab scripts) are accessible <a href="data/simscape_gr
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</div>
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<div id="org89497ce" class="figure">
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<div id="orgda6de48" class="figure">
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<p><img src="figs/simscape_model.png" alt="simscape_model.png" />
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</p>
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<p><span class="figure-number">Figure 1: </span>Simscape model used for the simulations</p>
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@@ -327,8 +92,8 @@ All the files (data and Matlab scripts) are accessible <a href="data/simscape_gr
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</div>
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</div>
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<div id="outline-container-org79741d0" class="outline-2">
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<h2 id="org79741d0"><span class="section-number-2">2</span> Initial Simulation</h2>
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<div id="outline-container-org926dcda" class="outline-2">
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<h2 id="org926dcda"><span class="section-number-2">2</span> Initial Simulation</h2>
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<div class="outline-text-2" id="text-2">
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<div class="org-src-container">
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<pre class="src src-matlab">g = <span class="org-type">-</span>10; <span class="org-comment">% [m/s^2]</span>
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@@ -369,7 +134,7 @@ title(<span class="org-string">''</span>);
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</div>
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<div id="org1f8faec" class="figure">
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<div id="orgcdd507b" class="figure">
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<p><img src="figs/sim_init.png" alt="sim_init.png" />
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</p>
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<p><span class="figure-number">Figure 2: </span>Initial Simulation (<a href="./figs/sim_init.png">png</a>, <a href="./figs/sim_init.pdf">pdf</a>)</p>
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@@ -377,8 +142,8 @@ title(<span class="org-string">''</span>);
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</div>
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</div>
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<div id="outline-container-orgd01c539" class="outline-2">
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<h2 id="orgd01c539"><span class="section-number-2">3</span> Change the equilibrium position</h2>
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<div id="outline-container-org37a8a81" class="outline-2">
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<h2 id="org37a8a81"><span class="section-number-2">3</span> Change the equilibrium position</h2>
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<div class="outline-text-2" id="text-3">
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<div class="org-src-container">
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<pre class="src src-matlab">l0 = 0; <span class="org-comment">% Initial wanted position [m]</span>
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@@ -414,7 +179,7 @@ title(<span class="org-string">''</span>);
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</div>
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<div id="org2b821ff" class="figure">
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<div id="orgc5782c2" class="figure">
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<p><img src="figs/sim_change_eq_position.png" alt="sim_change_eq_position.png" />
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</p>
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<p><span class="figure-number">Figure 3: </span>Simulation after changing the equilibrium position of the joint (<a href="./figs/sim_change_eq_position.png">png</a>, <a href="./figs/sim_change_eq_position.pdf">pdf</a>)</p>
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@@ -422,8 +187,8 @@ title(<span class="org-string">''</span>);
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</div>
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</div>
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<div id="outline-container-orgb51ac59" class="outline-2">
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<h2 id="orgb51ac59"><span class="section-number-2">4</span> Add external force</h2>
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<div id="outline-container-org542e71a" class="outline-2">
|
||||
<h2 id="org542e71a"><span class="section-number-2">4</span> Add external force</h2>
|
||||
<div class="outline-text-2" id="text-4">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">l0 = 0; <span class="org-comment">% Initial wanted position [m]</span>
|
||||
@@ -459,15 +224,15 @@ title(<span class="org-string">''</span>);
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org3a624ff" class="figure">
|
||||
<div id="org2d311aa" class="figure">
|
||||
<p><img src="figs/sim_add_external_force.png" alt="sim_add_external_force.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 4: </span>Simulater after adding an external force applied to the solid (<a href="./figs/sim_add_external_force.png">png</a>, <a href="./figs/sim_add_external_force.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-orgfff3605" class="outline-2">
|
||||
<h2 id="orgfff3605"><span class="section-number-2">5</span> Change initial position</h2>
|
||||
<div id="outline-container-org28c0d05" class="outline-2">
|
||||
<h2 id="org28c0d05"><span class="section-number-2">5</span> Change initial position</h2>
|
||||
<div class="outline-text-2" id="text-5">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">l0 = out_init.d.Data(end); <span class="org-comment">% Initial wanted position [m]</span>
|
||||
@@ -503,15 +268,15 @@ title(<span class="org-string">''</span>);
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org0dd1b26" class="figure">
|
||||
<div id="org80b8e3e" class="figure">
|
||||
<p><img src="figs/sim_change_initial_position.png" alt="sim_change_initial_position.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 5: </span>Simulation after changing the initial position of the joint (<a href="./figs/sim_change_initial_position.png">png</a>, <a href="./figs/sim_change_initial_position.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-orge503273" class="outline-2">
|
||||
<h2 id="orge503273"><span class="section-number-2">6</span> Conclusion</h2>
|
||||
<div id="outline-container-orgc1f6457" class="outline-2">
|
||||
<h2 id="orgc1f6457"><span class="section-number-2">6</span> Conclusion</h2>
|
||||
<div class="outline-text-2" id="text-6">
|
||||
<p>
|
||||
Three techniques:
|
||||
@@ -532,7 +297,7 @@ Three techniques:
|
||||
</ul></li>
|
||||
</ul>
|
||||
|
||||
<div class="important">
|
||||
<div class="important" id="org55dcf26">
|
||||
<p>
|
||||
Changing the equilibrium position of each joint seem the most practical solution.
|
||||
</p>
|
||||
@@ -543,7 +308,7 @@ Changing the equilibrium position of each joint seem the most practical solution
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-01-30 jeu. 15:24</p>
|
||||
<p class="date">Created: 2020-11-12 jeu. 08:53</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
Reference in New Issue
Block a user