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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