mahd/implementation/library/SCARA/inverse_kinematics_v1.emx

<?xml version="1.0" encoding="UTF-8"?>
<Document>
 <Model version="4.8" build="4.8.2.10124">
    <Sidops>
<![CDATA[inverse_kinematics 352 184
 description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>SCARA\inverse_kinematics_v1.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-10 12:26:18</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
 </Description>
</Information>';
 type 'Submodel-Equation'
  ports
   signal in input [2,1] {m} ;
   signal out angle1 {rad} ;
   signal out angle2 {rad} ;
   signal out a {rad} ;
   signal out b {rad} ;
   signal out c {rad} ;
   signal out phi {rad} ;
 end;
 implementation eq
parameters
	real global A_length; // length of first arm
	real global B_length; // length of second arm
	real to_rad = 1 {rad};
variables
	real x {m}, y {m};
	real C_length {m}; // length to x and y.
	real angle_sum {rad}; //  test angle
equations
	x = input[1];
	y = input[2];
	phi = atan2(y, x);
	C_length = sqrt(x^2 + y^2);	
	a = arccos ((B_length^2 + C_length^2 - A_length^2) / (2 * B_length * C_length));
	b = arccos ((A_length^2 + C_length^2 - B_length^2) / (2 * A_length * C_length));
	c = arccos ((A_length^2 + B_length^2 - C_length^2) / (2 * A_length * B_length));
	angle1 = b + phi;
	angle2 =  angle1 - pi * to_rad + c;
	
	

 implementation_end;
]]>
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  <DefaultExperiment><![CDATA[Experiment 1]]>
</DefaultExperiment>
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       <Description><![CDATA[length of first arm]]>
</Description>
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      </Variable>
      <Variable>
       <Name>B</Name>
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      </Variable>
      <Variable>
       <Name>B_length</Name>
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</Description>
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      <IntegrationMethod>
       <Name>VodeAdams</Name>
       <UseInitialStepSize>false</UseInitialStepSize>
       <InitialStepSize>0.001</InitialStepSize>
       <UseMaximumStepSize>false</UseMaximumStepSize>
       <MaximumStepSize>1.0</MaximumStepSize>
       <AbsoluteTolerance>1.0e-6</AbsoluteTolerance>
       <RelativeTolerance>1.0e-6</RelativeTolerance>
       <VodeUseBDF>true</VodeUseBDF>
       <VodeUseNewton>true</VodeUseNewton>
      </IntegrationMethod>
      <IntegrationMethod>
       <Name>BDFMethod</Name>
       <AbsoluteTolerance>1.0e-5</AbsoluteTolerance>
       <RelativeTolerance>1.0e-5</RelativeTolerance>
       <AlgebraicAbsoluteTolerance>1.0e-5</AlgebraicAbsoluteTolerance>
       <AlgebraicRelativeTolerance>1.0e-5</AlgebraicRelativeTolerance>
       <UseInitialStepSize>false</UseInitialStepSize>
       <InitialStepSize>0.001</InitialStepSize>
       <UseMaximumStepSize>false</UseMaximumStepSize>
       <MaximumStepSize>1.0</MaximumStepSize>
      </IntegrationMethod>
      <IntegrationMethod>
       <Name>MeBDFiMethod</Name>
       <AbsoluteTolerance>1.0e-5</AbsoluteTolerance>
       <RelativeTolerance>1.0e-5</RelativeTolerance>
       <AlgebraicAbsoluteTolerance>1.0e-5</AlgebraicAbsoluteTolerance>
       <AlgebraicRelativeTolerance>1.0e-5</AlgebraicRelativeTolerance>
       <UseInitialStepSize>false</UseInitialStepSize>
       <InitialStepSize>0.001</InitialStepSize>
       <UseMaximumStepSize>false</UseMaximumStepSize>
       <MaximumStepSize>1.0</MaximumStepSize>
      </IntegrationMethod>
      <SelectedIntegrationMethod>8</SelectedIntegrationMethod>
     </IntegrationMethods>
    </RunSpecs>
    <MultipleRun>
     <NrSteps>10</NrSteps>
     <CopyFromStates>false</CopyFromStates>
     <JoinParameterVariation>true</JoinParameterVariation>
     <ClearAfterRun>true</ClearAfterRun>
     <RedrawAfterRun>false</RedrawAfterRun>
     <DrawDuringSimulation>true</DrawDuringSimulation>
     <ActionBeforeOptimization>0</ActionBeforeOptimization>
     <CompareValue>0.0</CompareValue>
     <UseCompareValue>true</UseCompareValue>
     <MultipleRunType>MultipleRun</MultipleRunType>
     <Minimize>true</Minimize>
     <OptimizationVariable></OptimizationVariable>
     <ResulVarUsage>UseEndValue</ResulVarUsage>
     <Tolerance>0.001</Tolerance>
     <OptimizationMethod>BroydonFletcherGoldfarbShanno</OptimizationMethod>
     <MultipleRunVariables></MultipleRunVariables>
    </MultipleRun>
    <ExportData>
     <WriteAsText>true</WriteAsText>
     <ReadAsText>true</ReadAsText>
     <WriteHeader>true</WriteHeader>
     <ReadHeader>true</ReadHeader>
     <ReadFilename></ReadFilename>
     <WriteFilename></WriteFilename>
     <DoWrite>false</DoWrite>
     <ExportVariables></ExportVariables>
     <ImportVariables></ImportVariables>
    </ExportData>
    <BreakPoints></BreakPoints>
   </ExpData>
  </Experiment>
 </Experiments>
</Document>