diff --git a/data/simscape_gravity.zip b/data/simscape_gravity.zip deleted file mode 100644 index 0c2ef52..0000000 Binary files a/data/simscape_gravity.zip and /dev/null differ diff --git a/index.html b/index.html index ca24818..15fee17 100644 --- a/index.html +++ b/index.html @@ -3,7 +3,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + Gravity with Simscape Models @@ -34,12 +34,12 @@

Table of Contents

@@ -68,15 +68,8 @@ Then, the simulation will start at equilibrium, but all the elements will be &ld The three solutions are tested below.

-
-

-All the files (data and Matlab scripts) are accessible here. -

- -
- -
-

1 Simulink

+
+

1 Simulink

open 'gravity_test.slx'
@@ -84,7 +77,7 @@ All the files (data and Matlab scripts) are accessible 
+

 
simscape_model.png
 

 
Figure 1: Simscape model used for the simulations

@@ -92,8 +85,8 @@ All the files (data and Matlab scripts) are accessible 
-
2 Initial Simulation

+

+
2 Initial Simulation

 

 

 
g = -10; % [m/s^2]
@@ -134,7 +127,7 @@ title('');
 

 
 
-

+

 
sim_init.png
 

 
Figure 2: Initial Simulation (png, pdf)

@@ -142,8 +135,8 @@ title('');
 

 

 
-

-
3 Change the equilibrium position

+

+
3 Change the equilibrium position

 

 

 
l0 = 0; % Initial wanted position [m]
@@ -179,7 +172,7 @@ title('');
 

 
 
-

+

 
sim_change_eq_position.png
 

 
Figure 3: Simulation after changing the equilibrium position of the joint (png, pdf)

@@ -187,8 +180,8 @@ title('');
 

 

 
-

-
4 Add external force

+

+
4 Add external force

 

 

 
l0 = 0; % Initial wanted position [m]
@@ -224,15 +217,15 @@ title('');
 

 
 
-

+

 
sim_add_external_force.png
 

 
Figure 4: Simulater after adding an external force applied to the solid (png, pdf)

 

 

 

-

-
5 Change initial position

+

+
5 Change initial position

 

 

 
l0 = out_init.d.Data(end); % Initial wanted position [m]
@@ -268,15 +261,15 @@ title('');
 

 
 
-

+

 
sim_change_initial_position.png
 

 
Figure 5: Simulation after changing the initial position of the joint (png, pdf)

 

 

 

-

-
6 Conclusion

+

+
6 Conclusion

 

 

 Three techniques:
@@ -297,7 +290,7 @@ Three techniques:
 
 
 
-

+

 

 Changing the equilibrium position of each joint seem the most practical solution.
 

@@ -308,7 +301,7 @@ Changing the equilibrium position of each joint seem the most practical solution
 

 

 
Author: Dehaeze Thomas

-
Created: 2020-11-12 jeu. 08:53

+
Created: 2020-11-12 jeu. 09:21

 

 
 
diff --git a/index.org b/index.org
index 4f6496a..792c7c9 100644
--- a/index.org
+++ b/index.org
@@ -43,28 +43,17 @@ We can then think of three solutions to start a new simulation directly at the s
 
 The three solutions are tested below.
 
-* ZIP file containing the data and matlab files                       :ignore:
-#+begin_src bash :exports none :results none
-  if [ matlab/simscape_gravity.m -nt data/simscape_gravity.zip ]; then
-  cp matlab/simscape_gravity.m simscape_gravity.m;
-  zip data/simscape_gravity \
-  gravity_test.slx \
-  simscape_gravity.m
-  rm simscape_gravity.m;
-  fi
-#+end_src
-
-#+begin_note
-All the files (data and Matlab scripts) are accessible [[file:data/simscape_gravity.zip][here]].
-#+end_note
-
 * Matlab Init                                                :noexport:ignore:
 #+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
-<>
+  <>
 #+end_src
 
 #+begin_src matlab :exports none :results silent :noweb yes
-<>
+  <>
+#+end_src
+
+#+begin_src matlab :tangle no
+  addpath('./matlab');
 #+end_src
 
 * Simulink
diff --git a/gravity_test.slx b/matlab/gravity_test.slx
similarity index 100%
rename from gravity_test.slx
rename to matlab/gravity_test.slx