机器人运动_Running_Robot_4_Legs_matlab

Simscape Multibody Contact Forces Library Copyright 2014-2019 The MathWorks, Inc. This library contains contact force models for use with Simscape Multibody. They can be used for intermittent contact (parts bouncing off each other) and persistent contact (parts resting on each other). You are welcome to use this library in your own projects. If you need to include the library in your own project, run >> CFL_SaveLibsOnly.m from the root directory of your local repository. Only the critical files will be copied to a folder "CFL_Libs", and you can cut-and-paste that to your own local project. Please cite General approach for using this library: 1. Identify the parts in your system that will hit each other during simulation 2. Figure out which edges or surfaces will touch. The contact models provided allow you to model contact between combinations of connected circular arcs with straight lines (2D) and spheres with flat planes or cylinders (3D). 3. Add reference frames for the lines and arcs that will touch. 4. Add the correct contact force model between the two frames. See the examples to understand how they are used. Recommendations: 1. Start with stiffness of 1e4 and damping of 1e2 and adjust from there. 2. Use solver ode15s, Relative Tolerance = 1e-4, Absolute Tolerance = 1e-5 and set the maximum step size to 1e-2. 3. If you get unexpected behavior (parts flying through one another, system gaining energy) your tolerances are not small enough. Reduce tolerances by a factor of 10 and max step size by a factor of 10 until you get expected behavior. Reducing stiffness and increasing damping can also help. ######### Release History ######### v 4.1(R2019a) Mar 2019 Updated v4.1 for R2019a Minor changes to accommodate physical signal units v 4.1(R2018b) Nov 2018 Added two examples (R2018a) (R2017b) 1. New example Caster_4_Whl.slx (R2017a) Models a four-wheel cart with casters on front wheels (R2016b) (R2016a) 2. New example sm_build_spheres_in_sphere (R2015b) MATLAB code to automatically assemble a model that has (R2015a) a user-defined number of spheres inside a sphere with contact forces between all inner spheres and between inner spheres and outer sphere. v 4.1(R2018b) Sep 2018 Updated v4.1 for R2018b All v4p1 have updated Extr_Data_Cam_Roller_Curve.m (R2018a) Mar 2018 Tread example, walking robot example (R2017b) (R2017a) 1. Adjusted Sphere to Belt Force (in 3D, Composite Forces) (R2016b) Changed orientation of reference frame for the two (R2016a) Sphere to Tube Enabled Forces. Z-axis flipped 180 deg (R2015b) so that vx and wz inputs have the same sign. (R2015a) 2. Adjusted sm_tread_drive example.slx Uses adjusted Sphere to Belt Force, test sequence altered to show turning and show both treads striking bump in forward and reverse. 3. New example sm_robot_6legs_4bar.slx Models 6-legged robot. Legs on each side are a pair of connected four-bar linkages. Shows how to model robot walking on uneven surface. 4. Added CFL_contact_setModel.m Function to select force law in all contact forces in model. 5. Additions to support Parts_Lib.slx Extrusion file Extr_Data_TriangleRounded_Holes.m and various images for masking parts. v 4.0(R2018a) Mar 2018 Updated for R2018a (R2017b) (R2017a) 1. Added Sphere to Tube Enabled Force (R2016b) Sphere to Tube force that can be enabled/disabled (R2016a) and can be used to model the ends of a driven conveyor belt. (R2015b) (R2015a) 2. Added Sphere to Belt Force (in 3D, Composite Forces) Used to models spheres on a moving conveyor belt. Can also be used to model vehicles that ride on treads like a bulldozer. See sm_tread_drive 3. New examples sm_tread_drive, Frict3D_Balls_on_Driven_Tube These examples use Sphere to Tube Enabled Force and Sphere to Belt Force. 4. Added sm_ball_bearing_testrig example Models a ball bearing with variants that use Common Gear Constraint (ideal) and contact forces (permits vibration). 5. Added extrusion script Extr_Data_Block_NotchCircle.m Used to calculate cross-sectional profile for inner and outer race in Ball Bearing Testrig example v 3.9 (R2017b) Jan 2018 Added Cam Roller Constraint 1. Added Cam Roller Constraint. Uses Point-on-Curve Constraint to model circular roller on a cam with arbitrary profile. 2. Added Extr_Data_Cam_Roller_Curve.m to calculate path of Point-on-Curve Constraint. 3. Added Cam_Follower_Constraint example. v 3.8 (R2017b) Sept 2017 Updated for R2017b v 3.7 (R2017a) July 2017 Sphere to Cone Force, many fixes (R2016b) Library saved in versions R2015b through R2017a (R2016a) (R2015b) 1. Added Sphere to Cone Force. Contact force is active on inside and outside of cone. Also added extrusion script Extr_Data_Frustrum_Conical.m and example Coll3D_08_Ball_in_Spinning_Cone.slx 2. Sphere to Tube Force - fixed relative velocity calculation in Contact_Forces_Lib/3D/Sphere to Tube Force/Forces/Ff/vTan Previous releases delivered incorrect results if the cylinder could spin. Added new example Coll3D_07_Balls_and_Sliding_Tube.slx 3. Extr_Data_Box.m: functional change, parameters are full width and height instead of half width and half height. Affected parameters within a few examples, such as Spinning Boxes 4. Extr_Data_Cam.m: Changed to Extr_Data_Cam_Circles.m, which has two additional parameters (radii of holes). Affected example Cam Follower and the UI for parameterizing the cam. 5. Many 2D contact forces have been modified so that they no longer refer to the World frame. This permits them to be used in any plane, not just the x-y plane. 6. Circle to Ring Force: calculations adjusted to use consistent distance to contact point for circle and ring. May result in minor changes to simulation results. 7. Mask commands adjusted - eliminated imread(), use option "Opaque with ports" (R16a and above), and other settings. v 3.6 (R2017a) Mar 2017 Updated for R2017a (R2016b) 1. New example: Ball on Wheel with Controller (2D Friction Examples) Models a ball balanced on a wheel. 2. Removed MATLAB variables from blocks in Contact_Forces_Lib.slx Some library elements contained MATLAB variables in the dialog box parameters on the Dimensions and Visual tab. These were replaced with hardcoded default values to avoid warnings about undefined variables. 3. Additional parameters were added to the Sphere block in Parts_Lib.slx