RobotArmEnergy - % File: RobotArmEnergy.al % Autolev...

Info iconThis 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 % % Forward dynamic solution % % Free body Equation Direction Unknowns % --------- -------- --------- -------- % C M_C_Q> Cz> q1'',q2'' % A,B,C M_ABC_O> Ay> q1'',q2'' % % Inverse dynamic solution % % Free body Equation Direction Unknowns % --------- -------- --------- -------- % C M_C_Q> Cz>
Background image of page 1

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

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

Page1 / 4

RobotArmEnergy - % File: RobotArmEnergy.al % Autolev...

This preview shows document pages 1 - 2. Sign up to view the full document.

View Full Document Right Arrow Icon
Ask a homework question - tutors are online