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MATLAB Assignment 5

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F11Jonathan

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Unread post Mon Oct 17, 2011 9:44 am

MATLAB Assignment 5

How should we post the data on the forum for problems 2-5? Should we post all 500 saved datapoints for each computed quantity?
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Dan Negrut

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Unread post Mon Oct 17, 2011 1:38 pm

Re: MATLAB Assignment 5

F11Jonathan wrote:How should we post the data on the forum for problems 2-5? Should we post all 500 saved datapoints for each computed quantity?


No, don't do that, in fact you can't do that since you don't know how to solve the nonlinear systems, etc.

Please report the required information only in the initial configuration, at t=0.

You will have to evaluate \Phi(q,t) at q0 and t0. Then you will have to evaluate \Phiq(q0,t0), and then \nu at q0 and t0, etc.

So post these numbers and arrays, they are only for one configuration.
I hope this helps.
Dan
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F11Wendy

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Unread post Tue Oct 18, 2011 1:29 pm

Re: MATLAB Assignment 5

Thanks for the suggestion, I found the error.

Constraint_1Phi= 0
Constraint_1Phi_q = [1; 0; 0]
Constraint_1Nu = 0
Constraint_1Gamma = 0

Constraint_2Phi =0
Constraint_2Phi_q = [0; 1; -2]
Constraint_2Nu = 0
Constraint_2Gamma = 0

Constraint_5Phi =0
Constraint_5Phi_q = [0; 1; 0]
Constraint_5Nu = 0
Constraint_5Gamma = 0

Constraint_6Phi =0
Constraint_6Phi_q = [0; 0; 1]
Constraint_6Nu = 0
Constraint_6Gamma = 0

Constraint_7Phi =0
Constraint_7Phi_q = [0; 0; 1]
Constraint_7Nu = 0
Constraint_7Gamma = 2

Constraint_3Phi =[0;0]
Constraint_3Phi_qi=[1 0 2;0 1 0]
Constraint_3Phi_qj=[1 0 -3;0 1 0]
Constraint_3Nu=[0;0]
Constraint_3Gamma=[0;0]

Constraint_4Phi =[0;0]
Constraint_4Phi_qi=[1 0 3;0 1 0]
Constraint_4Phi_qj=[1 0 0;0 1 0]
Constraint_4Nu=[0;0]
Constraint_4Gamma=[0;0]
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F11Jonathan

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Unread post Tue Oct 18, 2011 2:55 pm

Re: MATLAB Assignment 5

All of mine and Wendy's answers agree i just combined the qi and qj into one jacobian for the revolute joints

Constraint 1: Absolute X
Phi = 0
Phi_q = [1 0 0]
Nu = 0
Gamma = 0

Constraint 2: Absolute Y
Phi = 0
Phi_q = [0 1 -2]
Nu = 0
Gamma = 0

Constraint 5: Absolute Y
Phi = 0
Phi_q = [0 1 0]
Nu = 0
Gamma = 0

Constraint 6: Absolute A
Phi = 0
Phi_q = [0 0 1]
Nu = 0
Gamma = 0

Constraint 7: Absolute A
Phi = 0
Phi_q = [0 0 1]
Nu = 0
Gamma = 0

Constraint 3: Revolute Joint
Phi = [0 0]’
Phi_q = [[1 0 0 -1 0 0];[0 1 2 0 -1 3]]
Nu = 0
Gamma = [0 0]’

Constraint 4: Revolute Joint
Phi = [0 0]’
Phi_q = [[1 0 0 -1 0 0];[0 1 3 0 -1 0]]
Nu = 0
Gamma = [0 0]’
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F11Brian

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Unread post Thu Oct 20, 2011 12:10 am

Re: MATLAB Assignment 5

It would seem that answers differ for the Gamma value for constraint 7. I think that the -Phi_tt term in the gamma equation would cause gamma to equal cdDotHandle(t) for this problem, but does anyone else have thoughts on the matter?

Constraint1_Phi =

0


Constraint1_Phi_q =

1 0 0


Constriant1_Nu =

0


Constraint1_Gamma =

0


Constraint2_Phi =

0


Constraint2_Phi_q =

0 1 -2


Constriant2_Nu =

0


Constraint2_Gamma =

0


Constraint5_Phi =

0


Constraint5_Phi_q =

0 1 0


Constriant5_Nu =

0


Constraint5_Gamma =

0


Constraint6_Phi =

0


Constraint6_Phi_q =

0 0 1


Constriant6_Nu =

0


Constraint6_Gamma =

0


Constraint7_Phi =

0


Constraint7_Phi_q =

0 0 1


Constriant7_Nu =

0


Constraint7_Gamma =

-2


Constraint3_Phi =

0
0


Constraint3_Phi_qi =

1 0 0
0 1 2


Constraint3_Phi_qj =

-1 0 0
0 -1 3


Constriant3_Nu =

0


Constraint3_Gamma =

0
0


Constraint4_Phi =

0
0


Constraint4_Phi_qi =

1 0 0
0 1 3


Constraint4_Phi_qj =

-1 0 0
0 -1 0


Constriant4_Nu =

0


Constraint4_Gamma =

0
0

Elapsed time is 0.239710 seconds.
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F11Christopher

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Unread post Thu Oct 20, 2011 3:56 am

Re: MATLAB Assignment 5

Phi_1= 0
Phi_q_1 = [1; 0; 0]
Nu_1 = 0
Gamma_1 = 0

Phi_2 =0
Phi_q_2 = [0; 1; -2]
Nu_2 = 0
Gamma_2 = 0

Phi_5 =0
Phi_q_5 = [0; 1; 3]
Nu_5 = 0
Gamma_5 = 0

Phi_6 =0
Phi_q_6 = [0; 0; 1]
Nu_6 = 0
Gamma_6 = 0

Phi_7 =0
Phi_q_7 = [0; 0; 1]
Nu_7 = 0
Gamma _7= 2

Phi_3 =[0;0]
Phi_qi_3=[1 0 0;0 1 2]
Phi_qj_3=[-1 0 0;0 -1 3]
Nu_3=0
Gamma_3=[0;0]

Phi_4 =[0;0]
Phi_qi_4=[1 0 0;0 1 3]
Phi_qj_4=[-1 0 0;0 -1 0]
Nu_4=0
Gamma_4=[0;0]

Jonathan and my answers agree except for the '3' in the Phi_q_5. I believe the difference arises in that I constrained the point on body 2 two have a constant I where as Jonathan must have constrained the point on body 3 to have a constant y value. This should not make a difference as these points are connected by a revolute joint. Should there than be some other difference to account for this?
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F11Ryan

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Unread post Thu Oct 20, 2011 1:14 pm

Re: MATLAB Assignment 5

Absoulte X_1

Phi = 0
Phi_q = 1 0 0
Nu = 0
Gamma = 0


Absoulte Y_1

Phi = 0
Phi_q = 0 1 -2
Nu = 0
Gamma = 0




AbsoluteAngle_1 (Driving Constraint)

Phi = 0
Phi_q = 0 0 1
Nu = 0
Gamma = 0



Revolute(1,2)

Phi = 0;0
Phi_qi = 1 0 0; 0 1 2
Phi_qj = -1 0 0; 0 -1 3
Nu = 0
Gamma = 0;0



Absolute Y_3

Phi = 0
Phi_q = 0 1 0
Nu = 0
Gamma = 0



Revolute(2,3)

Phi = 0 0
Phi_qi = 1 0 0; 0 1 3
Phi_qj = -1 0 0; 0 -1 0
Nu = 0
Gamma = 0;0



AbsoluteAngle_3

Phi = 0
Phi_q = 0 0 1
Nu = 0
Gamma = 0
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F11Carrie

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Unread post Thu Oct 20, 2011 3:54 pm

Re: MATLAB Assignment 5

const_1:AbsoluteX
myPhi=0
myPhi_q=[1 0 0]'
myNu=0
myGamma=0

const_2:AbsoluteY
myPhi= 0
myPhi_q= [0 1 -2]'
myNu=0
myGamma=0

const_3:
myPhi=[-3 0]
myPhi_q=[ 1 0 0 -1 0 0;0 1 2 0 -1 3]
myNu=[0 0]'
myGamma=[0 0]'

const_4:
myPhi=[0 0]'
myPhi_q=[1 0 0 -1 0 0;0 1 3 0 -1 0]
myNu=[0 0]'
myGamma=[0 0]'

const_5:AbsoluteY
myPhi=0
myPhi_q=[0 1 3]'
myNu=0
myGamma=0

const_6:AbsoluteAngle
myPhi=0
myPhi_q=[0 0 1]'
myNu=0
myGamma=0

const_7:AbsoluteAngle
myPhi=0
myPhi_q=[0 0 1]'
myNu=0
myGamma=2
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F11Gratz

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Unread post Thu Oct 20, 2011 8:23 pm

Re: MATLAB Assignment 5

constraint 1:
phi = 0
phi_q = [1 0 0]
nu = 0
gamma = 0

constraint 2:
phi = 0
phi_q = [0 1 -2]
nu = 0
gamma = 0

constraint 3:
phi = [0;0]
phi_q_i = [1 0 0; 0 1 2]
phi_q_j = [-1 0 0; 0 -1 3]
nu = [0;0;0]
gamma = [0;0;0]

constraint 4:
phi = [0;0]
phi_q_i = [1 0 0; 0 1 3]
phi_q_j = [-1 0 0; 0 -1 0]
nu = [0;0;0]
gamma = [0;0;0]

constraint 5:
phi = 0
phi_q = [0 1 0]
nu = 0
gamma = 0

constraint 6:
phi = 0
phi_q = [0 0 1]
nu = 0
gamma = 0

constraint 7:
phi = 0
phi_q = [0 0 1]
nu = 0
gamma = 0

Does anyone else get some sort of photoshop files showing up where they save their matlab stuff? They have the same name as my matlab functions, and I'm afraid to delete them because I don't know why they're there.
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F11David

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Unread post Thu Oct 20, 2011 10:08 pm

Re: MATLAB Assignment 5

constraint: 1
phi=0
phi_q=[1 0 0]
nu=0
gamma=0

constarint: 2
phi=0
phi_q=[0 1 -2]
nu=0
gamma=0

constraint: 3
phi=[0 0]
phi_qi=[1 0 0; 0 1 2]
phi-qj=[-1 0 0; 0 -1 3]
nu=[0;0]
gamma=[0;0]

constraint: 4
phi=[0;0]
phi_qi=[1 0 0; 0 1 3]
phi_qj=[-1 0 0;0 -1 0]
nu=[0;0]
gamma=[0;0]

constraint: 5
phi=0
phi_q=[0;1;0]
nu=0
gamma=0

constraint: 6
phi=0
phi_q=[0;0;1]
nu=0
gamma=0

constraint: 7
phi=0
phi_q=[0;0;1]
nu=0
gamma=0
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F11Thao

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Unread post Thu Oct 20, 2011 10:22 pm

Re: MATLAB Assignment 5

Phi = 0


Phi_q = 1 0 0


Nu = 0


Gamma = 0





Phi = 0


Phi_q = 0 1 -2


Nu = 0


Gamma = 0




Phi = 0


Phi_q = 0 1 0


Nu = 0


Gamma = 0





Phi = 0


Phi_q = 0 0 1


Nu = 0


Gamma = 0





Phi = 0


Phi_q = 0 0 1


Nu = 0


Gamma = 0






Phi = 0 0


Phi_qi = 1 0 0
0 1 2


Phi_qj = -1 0 0
0 1 0


Nu = 0


Gamma = 0
0






Phi =

8 0


Phi_qi =

1 0 0
0 1 2


Phi_qj =

-1 0 0
0 1 0


Nu =

0


Gamma =

0
0







Phi = 8 0


Phi_qi = 1 0 0
0 1 2


Phi_qj = -1 0 0
0 1 0


Nu = 0


Gamma = 0
0
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F11Matthew

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Unread post Thu Oct 20, 2011 10:39 pm

Re: MATLAB Assignment 5

absX1
myPhi = 0
myPhi_q =
1
0
0
myNu = 0
myGamma = 0

absy2
myPhi= 0
myPhi_q =
0
1
-2
myNu = 0
myGamma = 0

absy5
myPhi = 0
myPhi_q =
0
1
0
myNu = 0
myGamma = 0

absa6
myPhi = 0
myPhi_q =
0
0
1
myNu = 0
myGamma = 0

absa7
myPhi = 0
myPhi_q =
0
0
1
myNu = 0
myGamma = 2

rev3
myPhi =
-6 -7
myPhi_qi =
1 0 0
0 1 2
myPhi_qj =
-1 0 0
0 -1 3
myNu = 0
myGamma = 0

rev4
myPhi =
0 -10
myPhi_qi =
1 0 0
0 1 3
myPhi_qj =
-1 0 0
0 -1 0
myNu = 0
myGamma = 0
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F11Graham

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Unread post Thu Oct 20, 2011 11:20 pm

Re: MATLAB Assignment 5

constraint 1:
phi = 0
phi_q = [1 0 0]
nu = 0
gamma = 0

constraint 2:
phi = 0
phi_q = [0 1 -2]
nu = 0
gamma = 0

constraint 3:
phi = [0;0]
phi_q_i = [1 0 3
0 1 2]
phi_q_j = [-1 0 2
0 -1 3]
nu = 0
gamma = [0
0]

constraint 4:
phi = [0;0]
phi_q_i = [1 0 0
0 1 3]
phi_q_j = [-1 0 3
0 -1 0]
nu = 0
gamma = [0
0]

constraint 5:
phi = 0
phi_q = [0 1 0]
nu = 0
gamma = 0

constraint 6:
phi = 0
phi_q = [0 0 1]
nu = 0
gamma = 0

constraint 7:
phi = 0
phi_q = [0 0 1]
nu = 0
gamma = 0

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