This file gives info about the flow of the MATLAB script files in this package.
All script files were developed in MATLAB R2012a.
proper_lagrangian_PSM.m
Dependencies: None.
Output : This file generates the symbolic torque vector using the Euler-Lagrange approach.
Notes : This torque vector is saved to a file named 'taus.mat'.
coeffs_Lagr.m
Dependencies: This file uses the 'taus.mat' file generated in the proper_lagrangian_PSM.m file.
It loads it directly to memory, thereby eliminating the need to calculate the
torque vector symbolically every time.
Output : This file generates the M(q) matrix, C(q,qdot)*qdot vector and G(q) vector.
Notes : These variables, M,Cqdot and G are saved to a file named 'MCG.mat'.
MAIN.m
Dependencies: The MAIN.m file uses the 'MCG.mat' file generated by the coeffs_Lagr.m file.
It loads it directly to memory, thereby eliminating the need to calculate the
dynamics matrix/vectors symbolically every time.
It is also dependent on the callback functions for the slider and button operations
specifically, the files 'cb_txtupdate.m', 'cb_interactive_IMP.m', 'cb_conf.m'
Output : Running this file outputs all plots.
Notes : This file takes 0.35 to 0.7 seconds for each iteration to execute and the total
iterations is 601.
Developers Contact
Amit Trivedi : atrivedi@wpi.edu
Terence Carmichael : twcarmichael@wpi.edu
Kiran Mohan : kmohan@wpi.edu
Aman Rana : arana@wpi.edu
Akanksha Devkar : acdevkar@wpi.edu
impedance.rar_truckxqx_四自由度_控制_机器人控制_机械臂阻抗
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