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Thomas Dehaeze
2020-11-12 10:22:15 +01:00
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@@ -3,17 +3,13 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2020-11-12 jeu. 09:21 -->
<!-- 2020-11-12 jeu. 10:22 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<title>Gravity with Simscape Models</title>
<meta name="generator" content="Org mode" />
<meta name="author" content="Dehaeze Thomas" />
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
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<script>MathJax = {
tex: {
tags: 'ams',
@@ -34,12 +30,12 @@
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
<li><a href="#org951825b">1. Simulink</a></li>
<li><a href="#org498d7ed">2. Initial Simulation</a></li>
<li><a href="#orgb1186cb">3. Change the equilibrium position</a></li>
<li><a href="#org93e0199">4. Add external force</a></li>
<li><a href="#org61f107b">5. Change initial position</a></li>
<li><a href="#org84200cd">6. Conclusion</a></li>
<li><a href="#orgab8a471">1. Simulink</a></li>
<li><a href="#org4c54ff6">2. Initial Simulation</a></li>
<li><a href="#org24fe46e">3. Change the equilibrium position</a></li>
<li><a href="#orgeb66e34">4. Add external force</a></li>
<li><a href="#org7707124">5. Change initial position</a></li>
<li><a href="#org923fa38">6. Conclusion</a></li>
</ul>
</div>
</div>
@@ -68,8 +64,8 @@ Then, the simulation will start at equilibrium, but all the elements will be &ld
The three solutions are tested below.
</p>
<div id="outline-container-org951825b" class="outline-2">
<h2 id="org951825b"><span class="section-number-2">1</span> Simulink</h2>
<div id="outline-container-orgab8a471" class="outline-2">
<h2 id="orgab8a471"><span class="section-number-2">1</span> Simulink</h2>
<div class="outline-text-2" id="text-1">
<div class="org-src-container">
<pre class="src src-matlab">open <span class="org-string">'gravity_test.slx'</span>
@@ -77,7 +73,7 @@ The three solutions are tested below.
</div>
<div id="orgd333d11" class="figure">
<div id="orgddd05eb" class="figure">
<p><img src="figs/simscape_model.png" alt="simscape_model.png" />
</p>
<p><span class="figure-number">Figure 1: </span>Simscape model used for the simulations</p>
@@ -85,8 +81,8 @@ The three solutions are tested below.
</div>
</div>
<div id="outline-container-org498d7ed" class="outline-2">
<h2 id="org498d7ed"><span class="section-number-2">2</span> Initial Simulation</h2>
<div id="outline-container-org4c54ff6" class="outline-2">
<h2 id="org4c54ff6"><span class="section-number-2">2</span> Initial Simulation</h2>
<div class="outline-text-2" id="text-2">
<div class="org-src-container">
<pre class="src src-matlab">g = <span class="org-type">-</span>10; <span class="org-comment">% [m/s^2]</span>
@@ -127,7 +123,7 @@ title(<span class="org-string">''</span>);
</div>
<div id="org521ff41" class="figure">
<div id="orge745105" class="figure">
<p><img src="figs/sim_init.png" alt="sim_init.png" />
</p>
<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>
@@ -135,8 +131,8 @@ title(<span class="org-string">''</span>);
</div>
</div>
<div id="outline-container-orgb1186cb" class="outline-2">
<h2 id="orgb1186cb"><span class="section-number-2">3</span> Change the equilibrium position</h2>
<div id="outline-container-org24fe46e" class="outline-2">
<h2 id="org24fe46e"><span class="section-number-2">3</span> Change the equilibrium position</h2>
<div class="outline-text-2" id="text-3">
<div class="org-src-container">
<pre class="src src-matlab">l0 = 0; <span class="org-comment">% Initial wanted position [m]</span>
@@ -172,7 +168,7 @@ title(<span class="org-string">''</span>);
</div>
<div id="org585d417" class="figure">
<div id="orga9f22cf" class="figure">
<p><img src="figs/sim_change_eq_position.png" alt="sim_change_eq_position.png" />
</p>
<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>
@@ -180,8 +176,8 @@ title(<span class="org-string">''</span>);
</div>
</div>
<div id="outline-container-org93e0199" class="outline-2">
<h2 id="org93e0199"><span class="section-number-2">4</span> Add external force</h2>
<div id="outline-container-orgeb66e34" class="outline-2">
<h2 id="orgeb66e34"><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>
@@ -217,15 +213,15 @@ title(<span class="org-string">''</span>);
</div>
<div id="orge5eaa59" class="figure">
<div id="org8daf882" 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-org61f107b" class="outline-2">
<h2 id="org61f107b"><span class="section-number-2">5</span> Change initial position</h2>
<div id="outline-container-org7707124" class="outline-2">
<h2 id="org7707124"><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>
@@ -261,15 +257,15 @@ title(<span class="org-string">''</span>);
</div>
<div id="orgc7e04f4" class="figure">
<div id="orgf1ba95a" 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-org84200cd" class="outline-2">
<h2 id="org84200cd"><span class="section-number-2">6</span> Conclusion</h2>
<div id="outline-container-org923fa38" class="outline-2">
<h2 id="org923fa38"><span class="section-number-2">6</span> Conclusion</h2>
<div class="outline-text-2" id="text-6">
<p>
Three techniques:
@@ -290,7 +286,7 @@ Three techniques:
</ul></li>
</ul>
<div class="important" id="orgdb2539b">
<div class="important" id="orgd1ea3af">
<p>
Changing the equilibrium position of each joint seem the most practical solution.
</p>
@@ -301,7 +297,7 @@ 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: 2020-11-12 jeu. 09:21</p>
<p class="date">Created: 2020-11-12 jeu. 10:22</p>
</div>
</body>
</html>