文件列表:

TwoLinkManipulator (0, 2012-04-16)
TwoLinkManipulator\.DS_Store (6148, 2012-04-16)
TwoLinkManipulator\.kk29f745 (2016, 2012-01-05)
TwoLinkManipulator\fwd_kin.m (593, 2012-04-16)
TwoLinkManipulator\SimulateTwolink.m (5608, 2012-04-16)
TwoLinkManipulator\twolink.m (7766, 2012-04-11)
__MACOSX (0, 2012-04-16)
__MACOSX\TwoLinkManipulator (0, 2012-04-16)
__MACOSX\TwoLinkManipulator\._.DS_Store (82, 2012-04-16)
__MACOSX\TwoLinkManipulator\._.kk29f745 (82, 2012-01-05)
__MACOSX\TwoLinkManipulator\._fwd_kin.m (82, 2012-04-16)
__MACOSX\TwoLinkManipulator\._SimulateTwolink.m (82, 2012-04-16)
__MACOSX\TwoLinkManipulator\._twolink.m (82, 2012-04-11)
license.txt (1334, 2012-04-16)

% SimulateTwolink.m uses inverse dynamics to simulate the torque % trajectories required for a two-link planar robotic manipulator to follow % a prescribed trajectory. It also computes total energy consumption. This % code is provided as supplementary material for the paper: % % 'Engineering System Co-Design with Limited Plant Redesign' % Presented at the 8th AIAA Multidisciplinary Design Optimization % Specialist Conference, April 2012. % % The paper is available from: % % http://systemdesign.illinois.edu/publications/All12a.pdf % % The primary file is SimulateTwolink.m. Design and simulation parameters % can be specified in this script. Two other files are required by % SimulateTwolink.m: fwd_kin.m performs forward kinematic calculations, and % twolink.m performs an inverse dynamics simulation on the two link % manipulator using the settings specified in SimulateTwolink.m. % % Here both the physical system design and control system design are % considered simultaneously. Manipulator link length and trajectory % specification can be specified, and torque trajectory and energy % consumption are computed based on this input. It was found that maximum % torque and total energy consumption calculated using inverse dynamics % agreed closely with results calculated using feedback linearization, so % to simplify optimization problem solution an inverse dynamics approach % was used, which reduces the control design vector to just the trajectory % design. % % In the conference paper several cases are considered, each with its own % manipulator task, manipulator design, and trajectory design. The % specifications for each of these five cases are provided here, and can be % explored by changing the case number variable (cn). % % This code was incorporated into a larger optimization project. The code % presented here includes only the analysis portion of the code, no % optimization. % % A video illustrating the motion of each of these five cases is available % on YouTube: % % http://www.youtube.com/watch?v=OR7Y9-n5SjA % % Author: James T. Allison, Assistant Professor, University of Illinois at % Urbana-Champaign % Date: 4/10/12

近期下载者：

相关文件：

评论：[我要评论] [举报此文件]

收藏者：