RobotArmEnergy - File RobotArmEnergy.al Autolev program to...

Info icon This preview shows pages 1–2. Sign up to view the full content.

View Full Document Right Arrow Icon
Sheet1 Page 1 % File: RobotArmEnergy.al % Autolev program to demonstrate the relationship between forward % and inverse dynamics on the same system %-------------------------------------------------------------------- % Set up problem NewtonianFrame N % Fixed reference frame where Nx> is to the right, Ny> upward RigidBody A % Cube robot base RigidBody B % Cylindrical arm projecting from A RigidBody C % Cylindrical arm rotating about end of B Point O % Attachment point of A to N Point P % Attachment point of B to A Point Q % Attachment point of C to B Point R % Endpoint of C Variable q{2}'' % Rotation of A wrt N and C wrt B Variable T{2} % Control torques for two rotations Constant mA, mB, mC % Mass of A, B, and C Constant IxxA, IyyA, IzzA % Central principal moments of inertia of A Constant IxxB, IyyB, IzzB % Central principal moments of inertia of B Constant IxxC, IyyC, IzzC % Central principal moments of inertia of C Constant H,W,D % Height, width, and depth of base A Constant L,s % Length and radius of arms B and C Constant g % Gravity AutoOverwrite On Autoz On Zee_Not = [ q1'', q2'', T1, T2 ] %-------------------------------------------------------------------- % Solution outline %
Image of page 1

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full Document Right Arrow Icon
Image of page 2
This is the end of the preview. Sign up to access the rest of the document.

{[ snackBarMessage ]}

What students are saying

  • Left Quote Icon

    As a current student on this bumpy collegiate pathway, I stumbled upon Course Hero, where I can find study resources for nearly all my courses, get online help from tutors 24/7, and even share my old projects, papers, and lecture notes with other students.

    Student Picture

    Kiran Temple University Fox School of Business ‘17, Course Hero Intern

  • Left Quote Icon

    I cannot even describe how much Course Hero helped me this summer. It’s truly become something I can always rely on and help me. In the end, I was not only able to survive summer classes, but I was able to thrive thanks to Course Hero.

    Student Picture

    Dana University of Pennsylvania ‘17, Course Hero Intern

  • Left Quote Icon

    The ability to access any university’s resources through Course Hero proved invaluable in my case. I was behind on Tulane coursework and actually used UCLA’s materials to help me move forward and get everything together on time.

    Student Picture

    Jill Tulane University ‘16, Course Hero Intern