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RobotArmForward

# RobotArmForward - File RobotArmForward.al Autolev program...

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Sheet1 Page 1 % File: RobotArmForward.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 Specified 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 %

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