I built a model of parallel manipulators using simMechanics, but I found that the angular velocities of the moving platform measured by bushing joint and transform sensor are different, so why?
MATLAB: The angular velocities measured by bushing joint and transform sensor are different
angular velocitiesbushing jointsimmechanicstransform sensor
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Hi,
make t same size then the vectors you want to plot:
%
h = 0.08;nmax = 800;wx = zeros(1, nmax);wy = wx;wz = wx;t = linspace(0,2*pi,800);%M = 3.14;a = 3;b = 2;c = 1;wx(1,1) = 1;wy(1,1) = 1;wz(1,1) = 1;%I1 = M * (b^2 + c^2)/5;I2 = M * (a^2 + c^2)/5;I3 = M * (a^2 + b^2)/5;%g1 = (I3 - I2)/I1;g2 = (I1 - I3)/I2;g3 = (I2 - I1)/I3;%for n = 1:nmax-1 kx1 = -h*g1*wy(n)*wz(n); ky1 = -h*g2*wx(n)*wz(n); kz1 = -h*g3*wx(n)*wy(n); % kx2 = -h*g1*(wy(n)+0.5*ky1)*(wz(n)+0.5*kz1); ky2 = -h*g2*(wx(n)+0.5*kx1)*(wz(n)+0.5*kz1); kz2 = -h*g3*(wx(n)+0.5*kx1)*(wy(n)+0.5*ky1); % wx(n+1) = wx(n) + kx2; wy(n+1) = wy(n) + ky2; wz(n+1) = wz(n) + kz2;end%plot(t, wy, t, wz);then it wil work:
Best regards
Stephan
in the zip file is a minimized example of a pendulum. If i'd mount an acceleration sensor or Inertial measurement unit (IMU) to the swinging body, i would measure the gravity as well. I fixed the problem by summing the graviy with the acceleration of the body sensor output.
Is there an easier way to consider the gravity?
...by the way, i cannot attach *.slx files into the mathworx forum...
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