文件列表:

3PRR Kinematic Control (0, 2020-04-01)
3PRR Kinematic Control\MAE513_PROJ_Chakravarty_Shah.pdf (2080263, 2009-05-19)
3PRR Kinematic Control\Mydiff.m (1618, 2009-05-17)
3PRR Kinematic Control\Thumbs.db (13824, 2009-05-17)
3PRR Kinematic Control\hslogic.txt (215, 2019-07-14)
3PRR Kinematic Control\myfunc.m (356, 2009-05-13)
3PRR Kinematic Control\myrevkin1.m (1218, 2009-05-14)
3PRR Kinematic Control\parallel1.m (3025, 2009-05-19)
3PRR Kinematic Control\parallelplot1.m (469, 2009-05-17)
3PRR Kinematic Control\serialplot.m (712, 2009-05-14)

{\rtf1\ansi\ansicpg1252\deff0\deflang1033{\fonttbl{\f0\fswiss\fprq2\fcharset0 Arial;}{\f1\fswiss\fprq2\fcharset0 Calibri;}{\f2\fnil Courier New;}} {\colortbl ;\red0\green0\blue0;\red34\green139\blue34;} {\*\generator Msftedit 5.41.15.1515;}\viewkind4\uc1\pard\f0\fs24 Readme.txt\par \par (Hrishi Shah, Sourish Chakravarty, MAE513 Project)\par Spring 2008. SUNY Buffalo\par Advisor: Dr. Venkat Krovi\par \par \b\fs36 1) MATLAB\b0\fs24\par The MATLAB folder has the following:\par \par Parallel:3PRR(Kinematic)\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 Files List:\par 1. Parallel1.m\tab\tab Main File\par 2. Parallelplot1.m\tab Main Plotting File\par 3. Serialplot.m\tab Sub Plotting File\par 4. Mydiff.m\tab\tab ODE45/ODE4 call file\par 5. Myfunc.m\tab\tab Function to calculate ends of central platform\par 6. Myrevkin1.m\tab Inverse Kinematics function\par \par Color Coding: \par 1. Links for 4 RRR manipulators : Red, Green, Blue\par 2. Path being followed : Black(boldened)\par 3. Central Triangular Link : Magenta(boldened)\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 Triangle side lengths (variable name \endash L(1),L(2), line 17,18)\par \pard{\pntext\f0 2.\tab}{\*\pn\pnlvlbody\pnf0\pnindent360\pnstart2\pndec{\pntxta.}} \fi-360\li720\sa200\sl276\slmult1\qj Triangle side angles (variable name \endash angles(1),angles(2), line 16)\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 10)\par \pard{\pntext\f0 4.\tab}{\*\pn\pnlvlbody\pnf0\pnindent360\pnstart4\pndec{\pntxta.}} \fi-360\li720\sa200\sl276\slmult1\qj Major axis, (radiusx , line 10)\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 10) \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 21)\par \pard{\pntext\f0 7.\tab}{\*\pn\pnlvlbody\pnf0\pnindent360\pnstart7\pndec{\pntxta.}} \fi-360\li720\sa200\sl276\slmult1\qj Base point for first PRR manipulators, (variable name \endash basepoint, line 12)\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 and phidot, (variable name \endash phi,phidot, line 13)\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 33 in the file mydiff.m with the line shown below.\par \pard\f1\fs20 qidot=\cf1\f2 Ji*[xdot;ydot;phidot];\cf2 %+NullSpace*[0.5-x(1);pi-x(2);0-x(3)];\cf0\f0\fs24\par }

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