文件列表:

Parallel (0, 2009-05-28)
Parallel\arc.m (258, 2008-11-13)
Parallel\Mydiff.m (4143, 2008-11-18)
Parallel\myfunc.m (385, 2008-11-16)
Parallel\myrevkin1.m (1302, 2008-11-14)
Parallel\newtry.m (1010, 2008-11-17)
Parallel\parallel1.m (3032, 2008-11-16)
Parallel\parallelplot1.m (804, 2008-11-16)
Parallel\serialplot.m (538, 2008-11-16)
license.txt (1332, 2010-02-17)

{\rtf1\ansi\ansicpg1252\deff0\deflang1033{\fonttbl{\f0\fswiss\fprq2\fcharset0 Arial;}{\f1\fswiss\fprq2\fcharset0 Calibri;}} {\*\generator Msftedit 5.41.15.1515;}\viewkind4\uc1\pard\f0\fs24 Readme.txt\par \par (Shivaswamy Anirudh, Hrishi Shah, MAE593 Project)\par Fall 2008. SUNY Buffalo\par Advisor: Dr. Venkat Krovi\par \par Parallel:4RRR\par Find code implementing full inverse kinematics and ode45 along with nullspace. Main file is parallel1.m. mydiff.m is the file called in ode45.\par \par Color Coding: \par 1. Links for 4 RRR manipulators : Red, Green, Blue and Black\par 2. Path being followed : Black(boldened)\par 3. Central Rhombus Link : Magenta\par \par Following Parameters may be updated:\par \par \pard{\pntext\f0 1.\tab}{\*\pn\pnlvlbody\pnf0\pnindent360\pnstart1\pndec{\pntxta.}} \fi-360\li720\sa200\sl276\slmult1\qj Rhombus side length (variable name \endash l, line 15)\par \pard{\pntext\f0 2.\tab}{\*\pn\pnlvlbody\pnf0\pnindent360\pnstart2\pndec{\pntxta.}} \fi-360\li720\sa200\sl276\slmult1\qj Rhombus side angle (variable name \endash side_angle,line 15)\par \pard{\pntext\f0 3.\tab}{\*\pn\pnlvlbody\pnf0\pnindent360\pnstart3\pndec{\pntxta.}} \fi-360\li720\sa200\sl276\slmult1\qj Ellipse angle, (variable name \endash ell_angle, line 12)\par \pard{\pntext\f0 4.\tab}{\*\pn\pnlvlbody\pnf0\pnindent360\pnstart4\pndec{\pntxta.}} \fi-360\li720\sa200\sl276\slmult1\qj Major axis, (radiusx , line 12)\par \pard{\pntext\f0 5.\tab}{\*\pn\pnlvlbody\pnf0\pnindent360\pnstart5\pndec{\pntxta.}} \fi-360\li720\sa200\sl276\slmult1\qj Minor axis, (variable name \endash radiusy, line 12) \par \pard{\pntext\f0 6.\tab}{\*\pn\pnlvlbody\pnf0\pnindent360\pnstart6\pndec{\pntxta.}} \fi-360\li720\sa200\sl276\slmult1\qj Simulation Angle, (variable name \endash Sim_Angle, line 19)\par \pard{\pntext\f0 7.\tab}{\*\pn\pnlvlbody\pnf0\pnindent360\pnstart7\pndec{\pntxta.}} \fi-360\li720\sa200\sl276\slmult1\qj Base co-ordinates for RRR manipulators, (variable name \endash bases, line 18)\par \pard{\pntext\f0 8.\tab}{\*\pn\pnlvlbody\pnf0\pnindent360\pnstart8\pndec{\pntxta.}} \fi-360\li720\sa200\sl276\slmult1\qj Phi \endash inclination of central link which is constant throughout the simulation, (variable name \endash phi, line 15)\par \pard{\pntext\f0 9.\tab}{\*\pn\pnlvlbody\pnf0\pnindent360\pnstart9\pndec{\pntxta.}} \fi-360\li720\sa200\sl276\slmult1\qj NULL Space correction : To disable NULL Space Correction, replace line 34 in the file mydiff.m with the line shown below.\par \pard\li720\sa200\sl276\slmult1\qj\f1\fs20 qidot=Ji*[xdot;ydot;0];%+NullSpace*[pi/2-x(1);pi-x(2);0-x(3)];\f0\par \pard\par \fs24 The Result of these changes are documented in the Presentation and Report.\fs20\par }

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