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fixup! fixup! fixup! fixup! Add physics model

iss17/08_feature_implementation_02
Wouter Horlings 5 years ago
parent
741265aad4
commit
b6aedb67b3
1 changed files with 44 additions and 47 deletions
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  1. +44
    -47
      implementation/SCARA/02_physics/scara_physics.emx

+ 44
- 47
implementation/SCARA/02_physics/scara_physics.emx View File

@@ -8,7 +8,7 @@
<IsMainModel>0</IsMainModel> <IsMainModel>0</IsMainModel>
<KeepParameterValues>False</KeepParameterValues> <KeepParameterValues>False</KeepParameterValues>
<LibraryPath>C:\users\wouter\My Documents\studie\ma\mahd\implementation\SCARA\02_physics\scara_physics.emx</LibraryPath> <LibraryPath>C:\users\wouter\My Documents\studie\ma\mahd\implementation\SCARA\02_physics\scara_physics.emx</LibraryPath>
<TimeStamp>2020-7-14 18:34:19</TimeStamp>
<TimeStamp>2020-7-15 11:18:58</TimeStamp>
</Description> </Description>
<Attributes> <Attributes>
<GlobalRelations>parameters <GlobalRelations>parameters
@@ -360,7 +360,7 @@ equations
state = int(p.e); state = int(p.e);
p.f = state / i; p.f = state / i;
implementation_end; implementation_end;
inverse_kinematics 312 32
inverse_kinematics 304 32
description '<Information> description '<Information>
<Description> <Description>
<Version>4.8</Version> <Version>4.8</Version>
@@ -1313,7 +1313,7 @@ implementation_end;
equations equations
collect (output) = input; collect (output) = input;
implementation_end; implementation_end;
Submodel3 344 480
Submodel3 352 480
description '<Description><Version>4.0</Version> description '<Description><Version>4.0</Version>
<LibraryPath>Template\Submodel-Equation.emx</LibraryPath> <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>
<IsMainModel>1</IsMainModel> <IsMainModel>1</IsMainModel>
@@ -1338,8 +1338,8 @@ Enter your equations here. You can use the Toolbar buttons at the top ( Add , f(
*/ */
parameters parameters
real density = 1400 {kg/m3}; real density = 1400 {kg/m3};
real dimension[3] = [0.005;0.01;0.065] {m};
real initial_position[2] = [0;0.0325] {m};
real dimension[3] = [0.005;0.065;0.01] {m};
real initial_position[2] = [0.0325;0] {m};
real initial_angle = 0 {rad}; real initial_angle = 0 {rad};
variables variables
real body_angle[3]; real body_angle[3];
@@ -1357,8 +1357,8 @@ equations
body_angle = [angle;0;0]; body_angle = [angle;0;0];
position = int(velocity,initial_position); position = int(velocity,initial_position);
body_position = [0; position[1];position[2]]; body_position = [0; position[1];position[2]];
joint1=[0;-dimension[3]/2];
joint2=[0;dimension[3]/2];
joint1=[-dimension[2]/2;0];
joint2=[dimension[2]/2;0];
implementation_end; implementation_end;
Submodel4 744 480 Submodel4 744 480
@@ -1391,8 +1391,8 @@ Enter your equations here. You can use the Toolbar buttons at the top ( Add , f(
*/ */
parameters parameters
real density = 1400 {kg/m3}; real density = 1400 {kg/m3};
real dimension[3] = [0.005;0.01;0.05] {m};
real initial_position[2] = [0.0;0.09] {m};
real dimension[3] = [0.005;0.05;0.01] {m};
real initial_position[2] = [0.09;0.0] {m};
real initial_angle = 0.0 {rad}; real initial_angle = 0.0 {rad};
variables variables
real body_angle[3]; real body_angle[3];
@@ -1410,8 +1410,8 @@ equations
body_angle = [angle;0;0]; body_angle = [angle;0;0];
position = int(velocity,initial_position); position = int(velocity,initial_position);
body_position = [0; position[1];position[2]]; body_position = [0; position[1];position[2]];
joint1=[0;-dimension[3]/2];
joint2=[0;dimension[3]/2];
joint1=[-dimension[2]/2;0];
joint2=[dimension[2]/2;0];
implementation_end; implementation_end;
TF 504 288 TF 504 288
@@ -1901,8 +1901,8 @@ implementation_end;
<SharedZAxis>false</SharedZAxis> <SharedZAxis>false</SharedZAxis>
<XAxes> <XAxes>
<Axis> <Axis>
<Minimum>-0.07410853798627151</Minimum>
<Maximum>0.0</Maximum>
<Minimum>-0.04357977129155497</Minimum>
<Maximum>0.09</Maximum>
<Linear>true</Linear> <Linear>true</Linear>
<Scaling>3</Scaling> <Scaling>3</Scaling>
<Label>position[1]</Label> <Label>position[1]</Label>
@@ -1910,8 +1910,8 @@ implementation_end;
</XAxes> </XAxes>
<YAxes> <YAxes>
<Axis> <Axis>
<Minimum>-0.08</Minimum>
<Maximum>0.12000000000000001</Maximum>
<Minimum>-0.010000000000000004</Minimum>
<Maximum>0.09</Maximum>
<Linear>true</Linear> <Linear>true</Linear>
<Scaling>1</Scaling> <Scaling>1</Scaling>
<Label>position[2]</Label> <Label>position[2]</Label>
@@ -1953,7 +1953,7 @@ implementation_end;
<Plot> <Plot>
<PlotType>GraphPlot</PlotType> <PlotType>GraphPlot</PlotType>
<BasePlot> <BasePlot>
<PlotId>3</PlotId>
<PlotId>2</PlotId>
<UseWindowsBGColor>false</UseWindowsBGColor> <UseWindowsBGColor>false</UseWindowsBGColor>
<BGColor>16777215</BGColor> <BGColor>16777215</BGColor>
<PlotIsVisible>true</PlotIsVisible> <PlotIsVisible>true</PlotIsVisible>
@@ -2021,7 +2021,7 @@ implementation_end;
<XAxes> <XAxes>
<Axis> <Axis>
<Minimum>0.0</Minimum> <Minimum>0.0</Minimum>
<Maximum>20.0</Maximum>
<Maximum>10.0</Maximum>
<Linear>true</Linear> <Linear>true</Linear>
<Scaling>3</Scaling> <Scaling>3</Scaling>
<Label>time</Label> <Label>time</Label>
@@ -2094,7 +2094,7 @@ implementation_end;
<Plot> <Plot>
<PlotType>D3DPlot</PlotType> <PlotType>D3DPlot</PlotType>
<BasePlot> <BasePlot>
<PlotId>2</PlotId>
<PlotId>3</PlotId>
<UseWindowsBGColor>false</UseWindowsBGColor> <UseWindowsBGColor>false</UseWindowsBGColor>
<BGColor>16777215</BGColor> <BGColor>16777215</BGColor>
<PlotIsVisible>true</PlotIsVisible> <PlotIsVisible>true</PlotIsVisible>
@@ -2701,36 +2701,36 @@ implementation_end;
<Name>Camera Looking at Origin</Name> <Name>Camera Looking at Origin</Name>
<Position> <Position>
<X> <X>
<Value>3.40085013905783</Value>
<Value>3.38324006301254</Value>
</X> </X>
<Y> <Y>
<Value>0.342236040003864</Value>
<Value>-0.579670639853894</Value>
</Y> </Y>
<Z> <Z>
<Value>1.21109282816646</Value>
<Value>1.16932529227831</Value>
</Z> </Z>
</Position> </Position>
<Orientation> <Orientation>
<ZAxis> <ZAxis>
<X> <X>
<Value>-0.937843447259703</Value>
<Value>-0.932987163169101</Value>
</X> </X>
<Y> <Y>
<Value>-0.0943775275033589</Value>
<Value>0.159854239065772</Value>
</Y> </Y>
<Z> <Z>
<Value>-0.33397986576198</Value>
<Value>-0.322461742869407</Value>
</Z> </Z>
</ZAxis> </ZAxis>
<YAxis> <YAxis>
<X> <X>
<Value>-0.332301512200796</Value>
<Value>-0.317830371400678</Value>
</X> </X>
<Y> <Y>
<Value>-0.033440330791642</Value>
<Value>0.0544557676438669</Value>
</Y> </Y>
<Z> <Z>
<Value>0.942580208399057</Value>
<Value>0.946582497400847</Value>
</Z> </Z>
</YAxis> </YAxis>
<OrientationType>Direct3D</OrientationType> <OrientationType>Direct3D</OrientationType>
@@ -2997,11 +2997,11 @@ implementation_end;
</X> </X>
<Y> <Y>
<VariableName>Submodel3\dimension[2]</VariableName> <VariableName>Submodel3\dimension[2]</VariableName>
<Value>0.01</Value>
<Value>0.065</Value>
</Y> </Y>
<Z> <Z>
<VariableName>Submodel3\dimension[3]</VariableName> <VariableName>Submodel3\dimension[3]</VariableName>
<Value>0.065</Value>
<Value>0.01</Value>
</Z> </Z>
</ScaleValue> </ScaleValue>
<OverrideColor>true</OverrideColor> <OverrideColor>true</OverrideColor>
@@ -3057,18 +3057,18 @@ implementation_end;
</X> </X>
<Y> <Y>
<VariableName>Submodel3\body_position[2]</VariableName> <VariableName>Submodel3\body_position[2]</VariableName>
<Value>-0.03102478766698046</Value>
<Value>-0.003324486493480361</Value>
</Y> </Y>
<Z> <Z>
<VariableName>Submodel3\body_position[3]</VariableName> <VariableName>Submodel3\body_position[3]</VariableName>
<Value>-0.009583285900524256</Value>
<Value>0.0322803662779697</Value>
</Z> </Z>
</Position> </Position>
<Orientation> <Orientation>
<Angles> <Angles>
<X> <X>
<VariableName>Submodel3\body_angle[1]</VariableName> <VariableName>Submodel3\body_angle[1]</VariableName>
<Value>1.8698917335338603</Value>
<Value>1.6732325429015287</Value>
</X> </X>
<Y> <Y>
<VariableName>Submodel3\body_angle[2]</VariableName> <VariableName>Submodel3\body_angle[2]</VariableName>
@@ -3102,11 +3102,11 @@ implementation_end;
</X> </X>
<Y> <Y>
<VariableName>Submodel4\dimension[2]</VariableName> <VariableName>Submodel4\dimension[2]</VariableName>
<Value>0.01</Value>
<Value>0.05</Value>
</Y> </Y>
<Z> <Z>
<VariableName>Submodel4\dimension[3]</VariableName> <VariableName>Submodel4\dimension[3]</VariableName>
<Value>0.05</Value>
<Value>0.01</Value>
</Z> </Z>
</ScaleValue> </ScaleValue>
<OverrideColor>true</OverrideColor> <OverrideColor>true</OverrideColor>
@@ -3162,18 +3162,18 @@ implementation_end;
</X> </X>
<Y> <Y>
<VariableName>Submodel4\body_position[2]</VariableName> <VariableName>Submodel4\body_position[2]</VariableName>
<Value>-0.070814832000755</Value>
<Value>0.01712950212216267</Value>
</Y> </Y>
<Z> <Z>
<VariableName>Submodel4\body_position[3]</VariableName> <VariableName>Submodel4\body_position[3]</VariableName>
<Value>0.004242842205841144</Value>
<Value>0.07220095787584248</Value>
</Z> </Z>
</Position> </Position>
<Orientation> <Orientation>
<Angles> <Angles>
<X> <X>
<VariableName>Submodel4\body_angle[1]</VariableName> <VariableName>Submodel4\body_angle[1]</VariableName>
<Value>0.3583520801537476</Value>
<Value>0.3105772067921056</Value>
</X> </X>
<Y> <Y>
<VariableName>Submodel4\body_angle[2]</VariableName> <VariableName>Submodel4\body_angle[2]</VariableName>
@@ -3212,7 +3212,7 @@ implementation_end;
<Tiling>0</Tiling> <Tiling>0</Tiling>
<PlotIds> <PlotIds>
<PlotId>1</PlotId> <PlotId>1</PlotId>
<PlotId>3</PlotId>
<PlotId>2</PlotId>
</PlotIds> </PlotIds>
<ToggleState>Base</ToggleState> <ToggleState>Base</ToggleState>
</PlotPanel> </PlotPanel>
@@ -3222,17 +3222,17 @@ implementation_end;
<Name>Window 2</Name> <Name>Window 2</Name>
<Tiling>0</Tiling> <Tiling>0</Tiling>
<PlotIds> <PlotIds>
<PlotId>2</PlotId>
<PlotId>3</PlotId>
</PlotIds> </PlotIds>
<ToggleState>Base</ToggleState> <ToggleState>Base</ToggleState>
</PlotPanel> </PlotPanel>
</PlotPanels> </PlotPanels>
<WindowRectangles virtualDesktopWidth="5760" virtualDesktopHeight="1080"> <WindowRectangles virtualDesktopWidth="5760" virtualDesktopHeight="1080">
<WindowRectangle monitor="1" left="-1920" top="0" right="0" bottom="1080" plotpanelid="1">
0.126562 0.0935185 0.909896 0.916667
<WindowRectangle monitor="2" left="1920" top="0" right="3840" bottom="1080" plotpanelid="1">
0.125 0.0851852 0.904167 0.898148
</WindowRectangle> </WindowRectangle>
<WindowRectangle monitor="2" left="1920" top="0" right="3840" bottom="1080" plotpanelid="2">
0.205729 0.141667 0.845833 0.835185
<WindowRectangle monitor="1" left="-1920" top="0" right="0" bottom="1080" plotpanelid="2">
0.171354 0.140741 0.811458 0.834259
</WindowRectangle> </WindowRectangle>
</WindowRectangles> </WindowRectangles>
</PlotSpecs> </PlotSpecs>
@@ -3370,9 +3370,6 @@ implementation_end;
<WriteFilename></WriteFilename> <WriteFilename></WriteFilename>
<DoWrite>false</DoWrite> <DoWrite>false</DoWrite>
<ExportVariables> <ExportVariables>
<ExportVariable>
<VariableName>time</VariableName>
</ExportVariable>
</ExportVariables> </ExportVariables>
<ImportVariables> <ImportVariables>
</ImportVariables> </ImportVariables>
@@ -3380,7 +3377,7 @@ implementation_end;
<BreakPoints> <BreakPoints>
</BreakPoints> </BreakPoints>
<AnimationPlayback> <AnimationPlayback>
<PlaybackSpeed>1.0</PlaybackSpeed>
<PlaybackSpeed>0.125</PlaybackSpeed>
</AnimationPlayback> </AnimationPlayback>
</ExpData> </ExpData>
</Experiment> </Experiment>


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