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equazioni di Lagrange del sistema dinamico
prima equazione
tau1
teta2_dot_dot*((M2*l2^2)/3 + (M2*l1*cos(teta2)*l2)/2) + teta1_dot_dot*((M1*l1^2)/3 + M2*l1^2 + (M2*l2^2)/3 + M2*l1*l2*cos(teta2)) + M2*ag*((l2*cos(teta1 + teta2))/2 + l1*cos(teta1)) + (M1*ag*l1*cos(teta1))/2 - (M2*l1*l2*teta2_dot^2*sin(teta2))/2 - M2*l1*l2*teta1_dot*teta2_dot*sin(teta2)
seconda equazione
tau2
teta1_dot_dot*((M2*l2^2)/3 + (M2*l1*cos(teta2)*l2)/2) + (M2*l2^2*teta2_dot_dot)/3 + (M2*ag*l2*cos(teta1 + teta2))/2 + (M2*l1*l2*teta1_dot^2*sin(teta2))/2
in forma matriciale/vettoriale
teta2_dot_dot*((M2*l2^2)/3 + (M2*l1*cos(teta2)*l2)/2) + teta1_dot_dot*((M1*l1^2)/3 + M2*l1^2 + (M2*l2^2)/3 + M2*l1*l2*cos(teta2)) + M2*ag*((l2*cos(teta1 + teta2))/2 + l1*cos(teta1)) + (M1*ag*l1*cos(teta1))/2 - (M2*l1*l2*teta2_dot^2*sin(teta2))/2 - M2*l1*l2*teta1_dot*teta2_dot*sin(teta2)
teta1_dot_dot*((M2*l2^2)/3 + (M2*l1*cos(teta2)*l2)/2) + (M2*l2^2*teta2_dot_dot)/3 + (M2*ag*l2*cos(teta1 + teta2))/2 + (M2*l1*l2*teta1_dot^2*sin(teta2))/2
con i dati del manipolatore
(49*cos(teta1 + teta2))/10 + (147*cos(teta1))/10 + teta1_dot_dot*(cos(teta2) + 5/3) - (teta2_dot^2*sin(teta2))/2 + teta2_dot_dot*(cos(teta2)/2 + 1/3) - teta1_dot*teta2_dot*sin(teta2)
(sin(teta2)*teta1_dot^2)/2 + teta2_dot_dot/3 + (49*cos(teta1 + teta2))/10 + teta1_dot_dot*(cos(teta2)/2 + 1/3)
scrivo il sistema nella forma: B(q)*q_dot_dot + C(q,q_dot)*q_dot + g(q) = tau
matrice B(q) dei termini inerziali
[ M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O, J2A + M2*b2*l1*cos(teta2)]
[ J2A + M2*b2*l1*cos(teta2), J2A]
vettore delle accelerazioni angolari q_dot_dot
teta1_dot_dot
teta2_dot_dot
matrice C(q,q_dot) dei termini centrifughi e di coriolis
[ -2*M2*b2*l1*teta2_dot*sin(teta2), -M2*b2*l1*teta2_dot*sin(teta2)]
[ M2*b2*l1*teta1_dot*sin(teta2), 0]
vettore delle velocità angolari q_dot
teta1_dot
teta2_dot
vettore g(q) dei termini gravitazionali
M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)
M2*ag*b2*cos(teta1 + teta2)
{Undefined function or variable 'tau1_ss'.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('manipulator2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\manipulator2dof.m', 120)" style="font-weight:bold">manipulator2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\manipulator2dof.m',120,0)">line 120</a>)
u = [tau1_ss; tau2_ss]; }
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\manipulator2dof.m',120,0)
manipulator2dof
equazioni di Lagrange del sistema dinamico
prima equazione
tau1
teta2_dot_dot*((M2*l2^2)/3 + (M2*l1*cos(teta2)*l2)/2) + teta1_dot_dot*((M1*l1^2)/3 + M2*l1^2 + (M2*l2^2)/3 + M2*l1*l2*cos(teta2)) + M2*ag*((l2*cos(teta1 + teta2))/2 + l1*cos(teta1)) + (M1*ag*l1*cos(teta1))/2 - (M2*l1*l2*teta2_dot^2*sin(teta2))/2 - M2*l1*l2*teta1_dot*teta2_dot*sin(teta2)
seconda equazione
tau2
teta1_dot_dot*((M2*l2^2)/3 + (M2*l1*cos(teta2)*l2)/2) + (M2*l2^2*teta2_dot_dot)/3 + (M2*ag*l2*cos(teta1 + teta2))/2 + (M2*l1*l2*teta1_dot^2*sin(teta2))/2
in forma matriciale/vettoriale
teta2_dot_dot*((M2*l2^2)/3 + (M2*l1*cos(teta2)*l2)/2) + teta1_dot_dot*((M1*l1^2)/3 + M2*l1^2 + (M2*l2^2)/3 + M2*l1*l2*cos(teta2)) + M2*ag*((l2*cos(teta1 + teta2))/2 + l1*cos(teta1)) + (M1*ag*l1*cos(teta1))/2 - (M2*l1*l2*teta2_dot^2*sin(teta2))/2 - M2*l1*l2*teta1_dot*teta2_dot*sin(teta2)
teta1_dot_dot*((M2*l2^2)/3 + (M2*l1*cos(teta2)*l2)/2) + (M2*l2^2*teta2_dot_dot)/3 + (M2*ag*l2*cos(teta1 + teta2))/2 + (M2*l1*l2*teta1_dot^2*sin(teta2))/2
con i dati del manipolatore
(49*cos(teta1 + teta2))/10 + (147*cos(teta1))/10 + teta1_dot_dot*(cos(teta2) + 5/3) - (teta2_dot^2*sin(teta2))/2 + teta2_dot_dot*(cos(teta2)/2 + 1/3) - teta1_dot*teta2_dot*sin(teta2)
(sin(teta2)*teta1_dot^2)/2 + teta2_dot_dot/3 + (49*cos(teta1 + teta2))/10 + teta1_dot_dot*(cos(teta2)/2 + 1/3)
scrivo il sistema nella forma: B(q)*q_dot_dot + C(q,q_dot)*q_dot + g(q) = tau
matrice B(q) dei termini inerziali
[ M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O, J2A + M2*b2*l1*cos(teta2)]
[ J2A + M2*b2*l1*cos(teta2), J2A]
vettore delle accelerazioni angolari q_dot_dot
teta1_dot_dot
teta2_dot_dot
matrice C(q,q_dot) dei termini centrifughi e di coriolis
[ -2*M2*b2*l1*teta2_dot*sin(teta2), -M2*b2*l1*teta2_dot*sin(teta2)]
[ M2*b2*l1*teta1_dot*sin(teta2), 0]
vettore delle velocità angolari q_dot
teta1_dot
teta2_dot
vettore g(q) dei termini gravitazionali
M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)
M2*ag*b2*cos(teta1 + teta2)
spazio di stato
vettore z2_dot
((M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (tau2_ss*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (J2A*tau1_ss)/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (J2A*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)
((J2A + M2*b2*l1*cos(teta2))*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (tau1_ss*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - ((M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (tau2_ss*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)
teta1_dot_dot
((M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (tau2_ss*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (J2A*tau1_ss)/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (J2A*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)
teta2_dot_dot
((J2A + M2*b2*l1*cos(teta2))*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (tau1_ss*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - ((M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (tau2_ss*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)
{Undefined function or variable 'u1'.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('manipulator2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\manipulator2dof.m', 158)" style="font-weight:bold">manipulator2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\manipulator2dof.m',158,0)">line 158</a>)
u = [u1; u2]; %vettore degli ingressi disp('vettore degli ingressi u'); }
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\manipulator2dof.m',158,0)
manipulator2dof
equazioni di Lagrange del sistema dinamico
prima equazione
tau1
teta2_dot_dot*((M2*l2^2)/3 + (M2*l1*cos(teta2)*l2)/2) + teta1_dot_dot*((M1*l1^2)/3 + M2*l1^2 + (M2*l2^2)/3 + M2*l1*l2*cos(teta2)) + M2*ag*((l2*cos(teta1 + teta2))/2 + l1*cos(teta1)) + (M1*ag*l1*cos(teta1))/2 - (M2*l1*l2*teta2_dot^2*sin(teta2))/2 - M2*l1*l2*teta1_dot*teta2_dot*sin(teta2)
seconda equazione
tau2
teta1_dot_dot*((M2*l2^2)/3 + (M2*l1*cos(teta2)*l2)/2) + (M2*l2^2*teta2_dot_dot)/3 + (M2*ag*l2*cos(teta1 + teta2))/2 + (M2*l1*l2*teta1_dot^2*sin(teta2))/2
in forma matriciale/vettoriale
teta2_dot_dot*((M2*l2^2)/3 + (M2*l1*cos(teta2)*l2)/2) + teta1_dot_dot*((M1*l1^2)/3 + M2*l1^2 + (M2*l2^2)/3 + M2*l1*l2*cos(teta2)) + M2*ag*((l2*cos(teta1 + teta2))/2 + l1*cos(teta1)) + (M1*ag*l1*cos(teta1))/2 - (M2*l1*l2*teta2_dot^2*sin(teta2))/2 - M2*l1*l2*teta1_dot*teta2_dot*sin(teta2)
teta1_dot_dot*((M2*l2^2)/3 + (M2*l1*cos(teta2)*l2)/2) + (M2*l2^2*teta2_dot_dot)/3 + (M2*ag*l2*cos(teta1 + teta2))/2 + (M2*l1*l2*teta1_dot^2*sin(teta2))/2
con i dati del manipolatore
(49*cos(teta1 + teta2))/10 + (147*cos(teta1))/10 + teta1_dot_dot*(cos(teta2) + 5/3) - (teta2_dot^2*sin(teta2))/2 + teta2_dot_dot*(cos(teta2)/2 + 1/3) - teta1_dot*teta2_dot*sin(teta2)
(sin(teta2)*teta1_dot^2)/2 + teta2_dot_dot/3 + (49*cos(teta1 + teta2))/10 + teta1_dot_dot*(cos(teta2)/2 + 1/3)
scrivo il sistema nella forma: B(q)*q_dot_dot + C(q,q_dot)*q_dot + g(q) = tau
matrice B(q) dei termini inerziali
[ M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O, J2A + M2*b2*l1*cos(teta2)]
[ J2A + M2*b2*l1*cos(teta2), J2A]
vettore delle accelerazioni angolari q_dot_dot
teta1_dot_dot
teta2_dot_dot
matrice C(q,q_dot) dei termini centrifughi e di coriolis
[ -2*M2*b2*l1*teta2_dot*sin(teta2), -M2*b2*l1*teta2_dot*sin(teta2)]
[ M2*b2*l1*teta1_dot*sin(teta2), 0]
vettore delle velocità angolari q_dot
teta1_dot
teta2_dot
vettore g(q) dei termini gravitazionali
M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)
M2*ag*b2*cos(teta1 + teta2)
spazio di stato
vettore z2_dot
((M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (tau2_ss*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (J2A*tau1_ss)/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (J2A*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)
((J2A + M2*b2*l1*cos(teta2))*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (tau1_ss*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - ((M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (tau2_ss*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)
teta1_dot_dot
((M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (tau2_ss*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (J2A*tau1_ss)/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (J2A*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)
teta2_dot_dot
((J2A + M2*b2*l1*cos(teta2))*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (tau1_ss*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - ((M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (tau2_ss*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)
tau1
tau2
variabile di stato x1_dot
teta1_dot
variabile di stato x2_dot
teta2_dot
variabile di stato x3_dot
((M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (tau2_ss*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (J2A*tau1_ss)/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (J2A*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)
variabile di stato x4_dot
((J2A + M2*b2*l1*cos(teta2))*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (tau1_ss*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - ((M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (tau2_ss*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)
matrice A_ss
[ 0, 0, 1, 0]
[ 0, 0, 0, 1]
[ (J2A*(M2*ag*(b2*sin(teta1 + teta2) + l1*sin(teta1)) + M1*ag*b1*sin(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (M2*ag*b2*sin(teta1 + teta2)*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2), (J2A*(M2*b2*l1*cos(teta2)*teta2_dot^2 + 2*M2*b2*l1*teta1_dot*cos(teta2)*teta2_dot + M2*ag*b2*sin(teta1 + teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - ((- M2*b2*l1*cos(teta2)*teta1_dot^2 + M2*ag*b2*sin(teta1 + teta2))*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (M2*b2*l1*tau2_ss*sin(teta2))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (M2*b2*l1*sin(teta2)*(M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (2*M2^2*b2^2*l1^2*tau2_ss*cos(teta2)*sin(teta2)*(J2A + M2*b2*l1*cos(teta2)))/(- M2^2*b2^2*l1^2*cos(teta2)^2 + J2A*M2*l1^2 + J2A*J1O)^2 - (2*M2^2*b2^2*l1^2*cos(teta2)*sin(teta2)*(M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(J2A + M2*b2*l1*cos(teta2)))/(- M2^2*b2^2*l1^2*cos(teta2)^2 + J2A*M2*l1^2 + J2A*J1O)^2 - (2*J2A*M2^2*b2^2*l1^2*tau1_ss*cos(teta2)*sin(teta2))/(- M2^2*b2^2*l1^2*cos(teta2)^2 + J2A*M2*l1^2 + J2A*J1O)^2 + (2*J2A*M2^2*b2^2*l1^2*cos(teta2)*sin(teta2)*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(- M2^2*b2^2*l1^2*cos(teta2)^2 + J2A*M2*l1^2 + J2A*J1O)^2, (2*M2*b2*l1*teta1_dot*sin(teta2)*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (2*J2A*M2*b2*l1*teta2_dot*sin(teta2))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2), (J2A*(2*M2*b2*l1*teta1_dot*sin(teta2) + 2*M2*b2*l1*teta2_dot*sin(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)]
[ (M2*ag*b2*sin(teta1 + teta2)*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - ((M2*ag*(b2*sin(teta1 + teta2) + l1*sin(teta1)) + M1*ag*b1*sin(teta1))*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2), ((- M2*b2*l1*cos(teta2)*teta1_dot^2 + M2*ag*b2*sin(teta1 + teta2))*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - ((J2A + M2*b2*l1*cos(teta2))*(M2*b2*l1*cos(teta2)*teta2_dot^2 + 2*M2*b2*l1*teta1_dot*cos(teta2)*teta2_dot + M2*ag*b2*sin(teta1 + teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (M2*b2*l1*tau1_ss*sin(teta2))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (2*M2*b2*l1*tau2_ss*sin(teta2))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (M2*b2*l1*sin(teta2)*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (2*M2*b2*l1*sin(teta2)*(M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (2*M2^2*b2^2*l1^2*cos(teta2)*sin(teta2)*(M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(- M2^2*b2^2*l1^2*cos(teta2)^2 + J2A*M2*l1^2 + J2A*J1O)^2 + (2*M2^2*b2^2*l1^2*tau1_ss*cos(teta2)*sin(teta2)*(J2A + M2*b2*l1*cos(teta2)))/(- M2^2*b2^2*l1^2*cos(teta2)^2 + J2A*M2*l1^2 + J2A*J1O)^2 - (2*M2^2*b2^2*l1^2*cos(teta2)*sin(teta2)*(J2A + M2*b2*l1*cos(teta2))*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(- M2^2*b2^2*l1^2*cos(teta2)^2 + J2A*M2*l1^2 + J2A*J1O)^2 - (2*M2^2*b2^2*l1^2*tau2_ss*cos(teta2)*sin(teta2)*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(- M2^2*b2^2*l1^2*cos(teta2)^2 + J2A*M2*l1^2 + J2A*J1O)^2, - (2*M2*b2*l1*teta2_dot*sin(teta2)*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (2*M2*b2*l1*teta1_dot*sin(teta2)*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2), -((2*M2*b2*l1*teta1_dot*sin(teta2) + 2*M2*b2*l1*teta2_dot*sin(teta2))*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)]
matrice B_ss
[ 0, 0]
[ 0, 0]
[ J2A/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2), -(J2A + M2*b2*l1*cos(teta2))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)]
[ -(J2A + M2*b2*l1*cos(teta2))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2), (M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O)/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)]
matrice C_ss
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
matrice D_ss
0 0
0 0
0 0
0 0
matrice A_ss con i dati inseriti
[ 0, 0, 1, 0]
[ 0, 0, 0, 1]
[ (49*sin(teta1 + teta2)*(cos(teta2)/2 + 1/3))/(10*(cos(teta2)^2/4 - 4/9)) - ((49*sin(teta1 + teta2))/30 + (49*sin(teta1))/10)/(cos(teta2)^2/4 - 4/9), (sin(teta2)*((sin(teta2)*teta1_dot^2)/2 + (49*cos(teta1 + teta2))/10))/(2*(cos(teta2)^2/4 - 4/9)) - (tau2_ss*sin(teta2))/(2*(cos(teta2)^2/4 - 4/9)) - ((cos(teta2)*teta2_dot^2)/6 + (teta1_dot*cos(teta2)*teta2_dot)/3 + (49*sin(teta1 + teta2))/30)/(cos(teta2)^2/4 - 4/9) + (((49*sin(teta1 + teta2))/10 - (teta1_dot^2*cos(teta2))/2)*(cos(teta2)/2 + 1/3))/(cos(teta2)^2/4 - 4/9) + (cos(teta2)*sin(teta2)*((49*cos(teta1 + teta2))/10 + (147*cos(teta1))/10 - (teta2_dot^2*sin(teta2))/2 - teta1_dot*teta2_dot*sin(teta2)))/(6*(cos(teta2)^2/4 - 4/9)^2) - (tau1_ss*cos(teta2)*sin(teta2))/(6*(cos(teta2)^2/4 - 4/9)^2) + (tau2_ss*cos(teta2)*sin(teta2)*(cos(teta2)/2 + 1/3))/(2*(cos(teta2)^2/4 - 4/9)^2) - (cos(teta2)*sin(teta2)*((sin(teta2)*teta1_dot^2)/2 + (49*cos(teta1 + teta2))/10)*(cos(teta2)/2 + 1/3))/(2*(cos(teta2)^2/4 - 4/9)^2), - (teta2_dot*sin(teta2))/(3*(cos(teta2)^2/4 - 4/9)) - (teta1_dot*sin(teta2)*(cos(teta2)/2 + 1/3))/(cos(teta2)^2/4 - 4/9), -((teta1_dot*sin(teta2))/3 + (teta2_dot*sin(teta2))/3)/(cos(teta2)^2/4 - 4/9)]
[ ((cos(teta2)/2 + 1/3)*((49*sin(teta1 + teta2))/10 + (147*sin(teta1))/10))/(cos(teta2)^2/4 - 4/9) - (49*sin(teta1 + teta2)*(cos(teta2) + 5/3))/(10*(cos(teta2)^2/4 - 4/9)), (tau2_ss*sin(teta2))/(cos(teta2)^2/4 - 4/9) - (tau1_ss*sin(teta2))/(2*(cos(teta2)^2/4 - 4/9)) - (sin(teta2)*((sin(teta2)*teta1_dot^2)/2 + (49*cos(teta1 + teta2))/10))/(cos(teta2)^2/4 - 4/9) - ((cos(teta2) + 5/3)*((49*sin(teta1 + teta2))/10 - (teta1_dot^2*cos(teta2))/2))/(cos(teta2)^2/4 - 4/9) + (sin(teta2)*((49*cos(teta1 + teta2))/10 + (147*cos(teta1))/10 - (teta2_dot^2*sin(teta2))/2 - teta1_dot*teta2_dot*sin(teta2)))/(2*(cos(teta2)^2/4 - 4/9)) + ((cos(teta2)/2 + 1/3)*((cos(teta2)*teta2_dot^2)/2 + teta1_dot*cos(teta2)*teta2_dot + (49*sin(teta1 + teta2))/10))/(cos(teta2)^2/4 - 4/9) - (tau2_ss*cos(teta2)*sin(teta2)*(cos(teta2) + 5/3))/(2*(cos(teta2)^2/4 - 4/9)^2) + (cos(teta2)*sin(teta2)*(cos(teta2) + 5/3)*((sin(teta2)*teta1_dot^2)/2 + (49*cos(teta1 + teta2))/10))/(2*(cos(teta2)^2/4 - 4/9)^2) + (tau1_ss*cos(teta2)*sin(teta2)*(cos(teta2)/2 + 1/3))/(2*(cos(teta2)^2/4 - 4/9)^2) - (cos(teta2)*sin(teta2)*(cos(teta2)/2 + 1/3)*((49*cos(teta1 + teta2))/10 + (147*cos(teta1))/10 - (teta2_dot^2*sin(teta2))/2 - teta1_dot*teta2_dot*sin(teta2)))/(2*(cos(teta2)^2/4 - 4/9)^2), (teta1_dot*sin(teta2)*(cos(teta2) + 5/3))/(cos(teta2)^2/4 - 4/9) + (teta2_dot*sin(teta2)*(cos(teta2)/2 + 1/3))/(cos(teta2)^2/4 - 4/9), ((cos(teta2)/2 + 1/3)*(teta1_dot*sin(teta2) + teta2_dot*sin(teta2)))/(cos(teta2)^2/4 - 4/9)]
matrice B_ss con i dati inseriti
[ 0, 0]
[ 0, 0]
[ -1/(3*(cos(teta2)^2/4 - 4/9)), (cos(teta2)/2 + 1/3)/(cos(teta2)^2/4 - 4/9)]
[ (cos(teta2)/2 + 1/3)/(cos(teta2)^2/4 - 4/9), -(cos(teta2) + 5/3)/(cos(teta2)^2/4 - 4/9)]
matrice C_ss
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
matrice D_ss
0 0
0 0
0 0
0 0
matrice A_ss valutata nel punto di equilibrio
0 0 1.0000 0
0 0 0 1.0000
0.0000 -0.0000 0 0
-0.0000 0.0000 0 0
matrice B_ss valutata nel punto di equilibrio
0 0
0 0
1.7143 -4.2857
-4.2857 13.7143
matrice C_ss
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
matrice D_ss
0 0
0 0
0 0
0 0
PD2dof
{No appropriate method, property, or field 'signals' for class 'timeseries'.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('PD2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m', 149)" style="font-weight:bold">PD2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',149,0)">line 149</a>)
e_pos1 = controllo.signals.values(:,1) - uscita.signals.values(:,1); %errore posizione 1 }
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',149,0)
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',149,0)
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',149,0)
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',149,0)
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',149,0)
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',149,0)
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',149,0)
PD2dof
{Dot indexing is not supported for variables of this type.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('PD2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m', 149)" style="font-weight:bold">PD2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',149,0)">line 149</a>)
e_pos1 = controllo.signals.values(:,1) - uscita.signals.values(:,1); %errore posizione 1 }
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',149,0)
PD2dof
{No appropriate method, property, or field 'signals' for class 'timeseries'.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('PD2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m', 149)" style="font-weight:bold">PD2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',149,0)">line 149</a>)
e_pos1 = controllo.signals.values(:,1) - uscita.signals.values(:,1); %errore posizione 1 }
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',149,0)
PD2dof
{Dot indexing is not supported for variables of this type.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('PD2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m', 149)" style="font-weight:bold">PD2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',149,0)">line 149</a>)
e_pos1 = controllo.signals.values(:,1) - uscita.signals.values(:,1); %errore posizione 1 }
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',149,0)
PD2dof
{Dot indexing is not supported for variables of this type.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('PD2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m', 149)" style="font-weight:bold">PD2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',149,0)">line 149</a>)
e_pos1 = controllo.signals.values(:,1) - uscita.signals.values(:,1); %errore posizione 1 }
PD2dof
{Matrix dimensions must agree.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('PD2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m', 149)" style="font-weight:bold">PD2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',149,0)">line 149</a>)
e_pos1 = controllo.signals.values(:,1) - uscita.signals.values(:,1); %errore posizione 1 }
PD2dof
{Matrix dimensions must agree.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('PD2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m', 149)" style="font-weight:bold">PD2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',149,0)">line 149</a>)
e_pos1 = controllo.signals.values(:,1) - uscita.signals.values(:,1); %errore posizione 1 }
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',149,0)
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',149,0)
PD2dof
{Matrix dimensions must agree.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('PD2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m', 150)" style="font-weight:bold">PD2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',150,0)">line 150</a>)
e_pos1 = controllo.signals.values(:,1) - uscita.signals.values(:,1); %errore posizione 1 }
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',150,0)
PD2dof
{Undefined function or variable 'max_err4'.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('PD2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m', 223)" style="font-weight:bold">PD2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',223,0)">line 223</a>)
plot(T,max_err4,'.','Color','r')}
PD2dof
{Index exceeds the number of array elements (1).
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('PD2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m', 257)" style="font-weight:bold">PD2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',257,0)">line 257</a>)
plot([x1(j(i)) x2(j(i))],[y1(j(i)) y2(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'o') % manipolatore uscita }
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',257,0)
PD2dof
{Index exceeds the number of array elements (1).
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('PD2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m', 257)" style="font-weight:bold">PD2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',257,0)">line 257</a>)
plot([x1(j(i)) x2(j(i))],[y1(j(i)) y2(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'o') % manipolatore uscita }
ILC2dof
{Error using <a href="matlab:matlab.internal.language.introspective.errorDocCallback('grid', 'C:\Program Files\MATLAB\R2018b\toolbox\matlab\graph2d\grid.m', 39)" style="font-weight:bold">grid</a> (<a href="matlab: opentoline('C:\Program Files\MATLAB\R2018b\toolbox\matlab\graph2d\grid.m',39,0)">line 39</a>)
First argument must be an axes handle.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 231)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',231,0)">line 231</a>)
grid hold on }
grid
ILC2dof
{Index exceeds the number of array elements (1).
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 215)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',215,0)">line 215</a>)
plot([x1(j(i)) x2(j(i))],[y1(j(i)) y2(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'o') % manipolatore
uscita}
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',215,0)
ILC2dof
{Index exceeds the number of array elements (1).
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 215)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',215,0)">line 215</a>)
plot([x1(j(i)) x2(j(i))],[y1(j(i)) y2(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'o') % manipolatore
uscita}
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',215,0)
ILC2dof
{No appropriate method, property, or field 'signals' for class 'timeseries'.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 75)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',75,0)">line 75</a>)
e_pos1 = controllo.signals.values(:,1) - uscita.signals.values(:,1);}
ILC2dof
{Dot indexing is not supported for variables of this type.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 75)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',75,0)">line 75</a>)
e_pos1 = controllo.signals.values(:,1) - uscita.signals.values(:,1);}
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',75,0)
ILC2dof
{Index exceeds the number of array elements (1).
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 215)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',215,0)">line 215</a>)
plot([x1(j(i)) x2(j(i))],[y1(j(i)) y2(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'o') % manipolatore
uscita}
ILC2dof
{No appropriate method, property, or field 'signals' for class 'timeseries'.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 75)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',75,0)">line 75</a>)
e_pos1 = controllo.signals.values(:,1) - uscita.signals.values(:,1);}
ILC2dof
{Index exceeds the number of array elements (1).
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 215)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',215,0)">line 215</a>)
plot([x1(j(i)) x2(j(i))],[y1(j(i)) y2(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'o') % manipolatore
uscita}
ILC2dof
{No appropriate method, property, or field 'signals' for class 'timeseries'.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 75)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',75,0)">line 75</a>)
e_pos1 = controllo.signals.values(:,1) - uscita.signals.values(:,1);}
ILC2dof
{Index exceeds the number of array elements (1).
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 215)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',215,0)">line 215</a>)
plot([x1(j(i)) x2(j(i))],[y1(j(i)) y2(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'o') % manipolatore
uscita}
ILC2dof
{Index exceeds the number of array elements (1).
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 215)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',215,0)">line 215</a>)
plot([x1(j(i)) x2(j(i))],[y1(j(i)) y2(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'o') % manipolatore
uscita}
ILC2dof
{No appropriate method, property, or field 'signals' for class 'timeseries'.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 75)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',75,0)">line 75</a>)
e_pos1 = controllo.signals.values(:,1) - uscita.signals.values(:,1);}
ILC2dof
{Index exceeds the number of array elements (1).
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 215)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',215,0)">line 215</a>)
plot([x1(j(i)) x2(j(i))],[y1(j(i)) y2(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'o') % manipolatore
uscita}
ILC2dof
{Dot indexing is not supported for variables of this type.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 75)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',75,0)">line 75</a>)
e_pos1 = controllo.signals.values(:,1) - uscita.signals.values(:,1);}
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',75,0)
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',75,0)
ILC2dof
{Dot indexing is not supported for variables of this type.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 75)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',75,0)">line 75</a>)
e_pos1 = controllo.signals.values(:,1) - uscita.signals.values(:,1);}
ILC2dof
{Index exceeds the number of array elements (1).
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 215)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',215,0)">line 215</a>)
plot([x1(j(i)) x2(j(i))],[y1(j(i)) y2(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'o') % manipolatore
uscita}
ILC2dof
{Index exceeds the number of array elements (1).
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 215)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',215,0)">line 215</a>)
plot([x1(j(i)) x2(j(i))],[y1(j(i)) y2(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'o') % manipolatore
uscita}
ILC2dof
{Index exceeds the number of array elements (1).
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 215)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',215,0)">line 215</a>)
plot([x1(j(i)) x2(j(i))],[y1(j(i)) y2(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'o') % manipolatore
uscita}
ILC2dof
{Index exceeds the number of array elements (1).
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 215)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',215,0)">line 215</a>)
plot([x1(j(i)) x2(j(i))],[y1(j(i)) y2(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'o') % manipolatore
uscita}
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',215,0)
manipulator2dof
equazioni di Lagrange del sistema dinamico
prima equazione
tau1
teta2_dot_dot*((M2*l2^2)/3 + (M2*l1*cos(teta2)*l2)/2) + teta1_dot_dot*((M1*l1^2)/3 + M2*l1^2 + (M2*l2^2)/3 + M2*l1*l2*cos(teta2)) + M2*ag*((l2*cos(teta1 + teta2))/2 + l1*cos(teta1)) + (M1*ag*l1*cos(teta1))/2 - (M2*l1*l2*teta2_dot^2*sin(teta2))/2 - M2*l1*l2*teta1_dot*teta2_dot*sin(teta2)
seconda equazione
tau2
teta1_dot_dot*((M2*l2^2)/3 + (M2*l1*cos(teta2)*l2)/2) + (M2*l2^2*teta2_dot_dot)/3 + (M2*ag*l2*cos(teta1 + teta2))/2 + (M2*l1*l2*teta1_dot^2*sin(teta2))/2
in forma matriciale/vettoriale
teta2_dot_dot*((M2*l2^2)/3 + (M2*l1*cos(teta2)*l2)/2) + teta1_dot_dot*((M1*l1^2)/3 + M2*l1^2 + (M2*l2^2)/3 + M2*l1*l2*cos(teta2)) + M2*ag*((l2*cos(teta1 + teta2))/2 + l1*cos(teta1)) + (M1*ag*l1*cos(teta1))/2 - (M2*l1*l2*teta2_dot^2*sin(teta2))/2 - M2*l1*l2*teta1_dot*teta2_dot*sin(teta2)
teta1_dot_dot*((M2*l2^2)/3 + (M2*l1*cos(teta2)*l2)/2) + (M2*l2^2*teta2_dot_dot)/3 + (M2*ag*l2*cos(teta1 + teta2))/2 + (M2*l1*l2*teta1_dot^2*sin(teta2))/2
con i dati del manipolatore
(49*cos(teta1 + teta2))/10 + (147*cos(teta1))/10 + teta1_dot_dot*(cos(teta2) + 5/3) - (teta2_dot^2*sin(teta2))/2 + teta2_dot_dot*(cos(teta2)/2 + 1/3) - teta1_dot*teta2_dot*sin(teta2)
(sin(teta2)*teta1_dot^2)/2 + teta2_dot_dot/3 + (49*cos(teta1 + teta2))/10 + teta1_dot_dot*(cos(teta2)/2 + 1/3)
scrivo il sistema nella forma: B(q)*q_dot_dot + C(q,q_dot)*q_dot + g(q) = tau
matrice B(q) dei termini inerziali
[ M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O, J2A + M2*b2*l1*cos(teta2)]
[ J2A + M2*b2*l1*cos(teta2), J2A]
vettore delle accelerazioni angolari q_dot_dot
teta1_dot_dot
teta2_dot_dot
matrice C(q,q_dot) dei termini centrifughi e di coriolis
[ -2*M2*b2*l1*teta2_dot*sin(teta2), -M2*b2*l1*teta2_dot*sin(teta2)]
[ M2*b2*l1*teta1_dot*sin(teta2), 0]
vettore delle velocità angolari q_dot
teta1_dot
teta2_dot
vettore g(q) dei termini gravitazionali
M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)
M2*ag*b2*cos(teta1 + teta2)
spazio di stato
vettore z2_dot
((M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (tau2_ss*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (J2A*tau1_ss)/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (J2A*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)
((J2A + M2*b2*l1*cos(teta2))*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (tau1_ss*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - ((M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (tau2_ss*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)
teta1_dot_dot
((M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (tau2_ss*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (J2A*tau1_ss)/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (J2A*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)
teta2_dot_dot
((J2A + M2*b2*l1*cos(teta2))*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (tau1_ss*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - ((M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (tau2_ss*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)
tau1
tau2
variabile di stato x1_dot
teta1_dot
variabile di stato x2_dot
teta2_dot
variabile di stato x3_dot
((M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (tau2_ss*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (J2A*tau1_ss)/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (J2A*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)
variabile di stato x4_dot
((J2A + M2*b2*l1*cos(teta2))*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (tau1_ss*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - ((M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (tau2_ss*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)
matrice A_ss
[ 0, 0, 1, 0]
[ 0, 0, 0, 1]
[ (J2A*(M2*ag*(b2*sin(teta1 + teta2) + l1*sin(teta1)) + M1*ag*b1*sin(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (M2*ag*b2*sin(teta1 + teta2)*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2), (J2A*(M2*b2*l1*cos(teta2)*teta2_dot^2 + 2*M2*b2*l1*teta1_dot*cos(teta2)*teta2_dot + M2*ag*b2*sin(teta1 + teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - ((- M2*b2*l1*cos(teta2)*teta1_dot^2 + M2*ag*b2*sin(teta1 + teta2))*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (M2*b2*l1*tau2_ss*sin(teta2))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (M2*b2*l1*sin(teta2)*(M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (2*M2^2*b2^2*l1^2*tau2_ss*cos(teta2)*sin(teta2)*(J2A + M2*b2*l1*cos(teta2)))/(- M2^2*b2^2*l1^2*cos(teta2)^2 + J2A*M2*l1^2 + J2A*J1O)^2 - (2*M2^2*b2^2*l1^2*cos(teta2)*sin(teta2)*(M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(J2A + M2*b2*l1*cos(teta2)))/(- M2^2*b2^2*l1^2*cos(teta2)^2 + J2A*M2*l1^2 + J2A*J1O)^2 - (2*J2A*M2^2*b2^2*l1^2*tau1_ss*cos(teta2)*sin(teta2))/(- M2^2*b2^2*l1^2*cos(teta2)^2 + J2A*M2*l1^2 + J2A*J1O)^2 + (2*J2A*M2^2*b2^2*l1^2*cos(teta2)*sin(teta2)*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(- M2^2*b2^2*l1^2*cos(teta2)^2 + J2A*M2*l1^2 + J2A*J1O)^2, (2*M2*b2*l1*teta1_dot*sin(teta2)*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (2*J2A*M2*b2*l1*teta2_dot*sin(teta2))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2), (J2A*(2*M2*b2*l1*teta1_dot*sin(teta2) + 2*M2*b2*l1*teta2_dot*sin(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)]
[ (M2*ag*b2*sin(teta1 + teta2)*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - ((M2*ag*(b2*sin(teta1 + teta2) + l1*sin(teta1)) + M1*ag*b1*sin(teta1))*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2), ((- M2*b2*l1*cos(teta2)*teta1_dot^2 + M2*ag*b2*sin(teta1 + teta2))*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - ((J2A + M2*b2*l1*cos(teta2))*(M2*b2*l1*cos(teta2)*teta2_dot^2 + 2*M2*b2*l1*teta1_dot*cos(teta2)*teta2_dot + M2*ag*b2*sin(teta1 + teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (M2*b2*l1*tau1_ss*sin(teta2))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (2*M2*b2*l1*tau2_ss*sin(teta2))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (M2*b2*l1*sin(teta2)*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (2*M2*b2*l1*sin(teta2)*(M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (2*M2^2*b2^2*l1^2*cos(teta2)*sin(teta2)*(M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(- M2^2*b2^2*l1^2*cos(teta2)^2 + J2A*M2*l1^2 + J2A*J1O)^2 + (2*M2^2*b2^2*l1^2*tau1_ss*cos(teta2)*sin(teta2)*(J2A + M2*b2*l1*cos(teta2)))/(- M2^2*b2^2*l1^2*cos(teta2)^2 + J2A*M2*l1^2 + J2A*J1O)^2 - (2*M2^2*b2^2*l1^2*cos(teta2)*sin(teta2)*(J2A + M2*b2*l1*cos(teta2))*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(- M2^2*b2^2*l1^2*cos(teta2)^2 + J2A*M2*l1^2 + J2A*J1O)^2 - (2*M2^2*b2^2*l1^2*tau2_ss*cos(teta2)*sin(teta2)*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(- M2^2*b2^2*l1^2*cos(teta2)^2 + J2A*M2*l1^2 + J2A*J1O)^2, - (2*M2*b2*l1*teta2_dot*sin(teta2)*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (2*M2*b2*l1*teta1_dot*sin(teta2)*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2), -((2*M2*b2*l1*teta1_dot*sin(teta2) + 2*M2*b2*l1*teta2_dot*sin(teta2))*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)]
matrice B_ss
[ 0, 0]
[ 0, 0]
[ J2A/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2), -(J2A + M2*b2*l1*cos(teta2))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)]
[ -(J2A + M2*b2*l1*cos(teta2))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2), (M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O)/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)]
matrice C_ss
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
matrice D_ss
0 0
0 0
0 0
0 0
matrice A_ss con i dati inseriti
[ 0, 0, 1, 0]
[ 0, 0, 0, 1]
[ (49*sin(teta1 + teta2)*(cos(teta2)/2 + 1/3))/(10*(cos(teta2)^2/4 - 4/9)) - ((49*sin(teta1 + teta2))/30 + (49*sin(teta1))/10)/(cos(teta2)^2/4 - 4/9), (sin(teta2)*((sin(teta2)*teta1_dot^2)/2 + (49*cos(teta1 + teta2))/10))/(2*(cos(teta2)^2/4 - 4/9)) - (tau2_ss*sin(teta2))/(2*(cos(teta2)^2/4 - 4/9)) - ((cos(teta2)*teta2_dot^2)/6 + (teta1_dot*cos(teta2)*teta2_dot)/3 + (49*sin(teta1 + teta2))/30)/(cos(teta2)^2/4 - 4/9) + (((49*sin(teta1 + teta2))/10 - (teta1_dot^2*cos(teta2))/2)*(cos(teta2)/2 + 1/3))/(cos(teta2)^2/4 - 4/9) + (cos(teta2)*sin(teta2)*((49*cos(teta1 + teta2))/10 + (147*cos(teta1))/10 - (teta2_dot^2*sin(teta2))/2 - teta1_dot*teta2_dot*sin(teta2)))/(6*(cos(teta2)^2/4 - 4/9)^2) - (tau1_ss*cos(teta2)*sin(teta2))/(6*(cos(teta2)^2/4 - 4/9)^2) + (tau2_ss*cos(teta2)*sin(teta2)*(cos(teta2)/2 + 1/3))/(2*(cos(teta2)^2/4 - 4/9)^2) - (cos(teta2)*sin(teta2)*((sin(teta2)*teta1_dot^2)/2 + (49*cos(teta1 + teta2))/10)*(cos(teta2)/2 + 1/3))/(2*(cos(teta2)^2/4 - 4/9)^2), - (teta2_dot*sin(teta2))/(3*(cos(teta2)^2/4 - 4/9)) - (teta1_dot*sin(teta2)*(cos(teta2)/2 + 1/3))/(cos(teta2)^2/4 - 4/9), -((teta1_dot*sin(teta2))/3 + (teta2_dot*sin(teta2))/3)/(cos(teta2)^2/4 - 4/9)]
[ ((cos(teta2)/2 + 1/3)*((49*sin(teta1 + teta2))/10 + (147*sin(teta1))/10))/(cos(teta2)^2/4 - 4/9) - (49*sin(teta1 + teta2)*(cos(teta2) + 5/3))/(10*(cos(teta2)^2/4 - 4/9)), (tau2_ss*sin(teta2))/(cos(teta2)^2/4 - 4/9) - (tau1_ss*sin(teta2))/(2*(cos(teta2)^2/4 - 4/9)) - (sin(teta2)*((sin(teta2)*teta1_dot^2)/2 + (49*cos(teta1 + teta2))/10))/(cos(teta2)^2/4 - 4/9) - ((cos(teta2) + 5/3)*((49*sin(teta1 + teta2))/10 - (teta1_dot^2*cos(teta2))/2))/(cos(teta2)^2/4 - 4/9) + (sin(teta2)*((49*cos(teta1 + teta2))/10 + (147*cos(teta1))/10 - (teta2_dot^2*sin(teta2))/2 - teta1_dot*teta2_dot*sin(teta2)))/(2*(cos(teta2)^2/4 - 4/9)) + ((cos(teta2)/2 + 1/3)*((cos(teta2)*teta2_dot^2)/2 + teta1_dot*cos(teta2)*teta2_dot + (49*sin(teta1 + teta2))/10))/(cos(teta2)^2/4 - 4/9) - (tau2_ss*cos(teta2)*sin(teta2)*(cos(teta2) + 5/3))/(2*(cos(teta2)^2/4 - 4/9)^2) + (cos(teta2)*sin(teta2)*(cos(teta2) + 5/3)*((sin(teta2)*teta1_dot^2)/2 + (49*cos(teta1 + teta2))/10))/(2*(cos(teta2)^2/4 - 4/9)^2) + (tau1_ss*cos(teta2)*sin(teta2)*(cos(teta2)/2 + 1/3))/(2*(cos(teta2)^2/4 - 4/9)^2) - (cos(teta2)*sin(teta2)*(cos(teta2)/2 + 1/3)*((49*cos(teta1 + teta2))/10 + (147*cos(teta1))/10 - (teta2_dot^2*sin(teta2))/2 - teta1_dot*teta2_dot*sin(teta2)))/(2*(cos(teta2)^2/4 - 4/9)^2), (teta1_dot*sin(teta2)*(cos(teta2) + 5/3))/(cos(teta2)^2/4 - 4/9) + (teta2_dot*sin(teta2)*(cos(teta2)/2 + 1/3))/(cos(teta2)^2/4 - 4/9), ((cos(teta2)/2 + 1/3)*(teta1_dot*sin(teta2) + teta2_dot*sin(teta2)))/(cos(teta2)^2/4 - 4/9)]
matrice B_ss con i dati inseriti
[ 0, 0]
[ 0, 0]
[ -1/(3*(cos(teta2)^2/4 - 4/9)), (cos(teta2)/2 + 1/3)/(cos(teta2)^2/4 - 4/9)]
[ (cos(teta2)/2 + 1/3)/(cos(teta2)^2/4 - 4/9), -(cos(teta2) + 5/3)/(cos(teta2)^2/4 - 4/9)]
matrice C_ss
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
matrice D_ss
0 0
0 0
0 0
0 0
matrice A_ss valutata nel punto di equilibrio
0 0 1.0000 0
0 0 0 1.0000
0.0000 -0.0000 0 0
-0.0000 0.0000 0 0
matrice B_ss valutata nel punto di equilibrio
0 0
0 0
1.7143 -4.2857
-4.2857 13.7143
matrice C_ss
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
matrice D_ss
0 0
0 0
0 0
0 0
ILC2dof
{Index exceeds the number of array elements (1).
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 208)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',208,0)">line 208</a>)
plot([x1(j(i)) x2(j(i))],[y1(j(i)) y2(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'o') % manipolatore
uscita}
ILC2dof
{Index exceeds the number of array elements (1).
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 208)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',208,0)">line 208</a>)
plot([x1(j(i)) x2(j(i))],[y1(j(i)) y2(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'o') % manipolatore
uscita}
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',208,0)
ILC2dof
{Index exceeds the number of array elements (1).
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 208)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',208,0)">line 208</a>)
plot([x1(j(i)) x2(j(i))],[y1(j(i)) y2(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'o') % manipolatore
uscita}
ILC2dof
[Warning: Input port 1 of '<a href="matlab:open_and_hilite_hyperlink ('Man2Link_slx/To Workspace1','error')">Man2Link_slx/To Workspace1</a>' is not connected.]
[> In <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 54)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',54,0)">line 54</a>)]
<a href="matlab: opentoline('C:\Program Files\MATLAB\R2018b\toolbox\matlab\images\+matlab\+images\+internal\+resize\contributions.m',53,1)">53 </a>if ~isempty(kill)
ILC2dof
{No appropriate method, property, or field 'signals' for class 'timeseries'.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 70)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',70,0)">line 70</a>)
e_pos1 = controllo.signals.values(:,1) - uscita.signals.values(:,1); %errore posizione 1 }
ILC2dof
{Index exceeds the number of array elements (1).
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 208)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',208,0)">line 208</a>)
plot([x1(j(i)) x2(j(i))],[y1(j(i)) y2(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'o') % manipolatore
uscita}
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',208,0)
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',208,0)
ILC2dof
{Dot indexing is not supported for variables of this type.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 70)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',70,0)">line 70</a>)
e_pos1 = controllo.signals.values(:,1) - uscita.signals.values(:,1); %errore posizione 1 }
ILC2dof
{Dot indexing is not supported for variables of this type.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 70)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',70,0)">line 70</a>)
e_pos1 = controllo.signals.values(:,1) - uscita.signals.values(:,1); %errore posizione 1 }
PD2dof
{Index exceeds the number of array elements (1).
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('PD2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m', 257)" style="font-weight:bold">PD2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',257,0)">line 257</a>)
plot([x1(j(i)) x2(j(i))],[y1(j(i)) y2(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'o') % manipolatore uscita }
ILC2dof
{Index exceeds the number of array elements (1).
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 208)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',208,0)">line 208</a>)
plot([x1(j(i)) x2(j(i))],[y1(j(i)) y2(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'o') % manipolatore uscita}
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',208,0)
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',208,0)
sldemo_varsize_basic
ILC2dof
{Error using <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 54)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',54,0)">line 54</a>)
Cannot start a new command line simulation while a simulation has started for the same model.}
ILC2dof
{Matrix dimensions must agree.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 70)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',70,0)">line 70</a>)
e_pos1 = controllo.signals.values(:,1) - uscita.signals.values(:,1); %errore posizione 1 }
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',70,0)
ILC2dof
{Index exceeds the number of array elements (1).
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 208)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',208,0)">line 208</a>)
plot([x1(j(i)) x2(j(i))],[y1(j(i)) y2(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'o') % manipolatore
uscita}
ILC2dof
{Matrix dimensions must agree.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 70)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',70,0)">line 70</a>)
e_pos1 = controllo.signals.values(:,1) - uscita.signals.values(:,1); %errore posizione 1 }
ILC2dof
{Index exceeds the number of array elements (1).
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 208)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',208,0)">line 208</a>)
plot([x1(j(i)) x2(j(i))],[y1(j(i)) y2(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'o') % manipolatore
uscita}
ILC2dof
{Index exceeds the number of array elements (1).
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 208)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',208,0)">line 208</a>)
plot([x1(j(i)) x2(j(i))],[y1(j(i)) y2(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'k',[0 x1(j(i))],[0 y1(j(i))],'o') % manipolatore
uscita}
ILC2dof
{Matrix dimensions must agree.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 70)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',70,0)">line 70</a>)
e_pos1 = controllo.signals.values(:,1) - uscita.signals.values(:,1); %errore posizione 1 }
ILC2dof
PD2dof
ILC2dof
ILC2dof
ILC2dof
ILC2dof
PD2dof
ILC2dof
ILC2dof
ILC2dof
PD2dof
PD2dof
ILC2dof
PD2dof
ILC2dof
ILC2dof
PD2dof
PD2dof
ILC2dof
manipulator2dof
equazioni di Lagrange del sistema dinamico
prima equazione
tau1
teta2_dot_dot*((M2*l2^2)/3 + (M2*l1*cos(teta2)*l2)/2) + teta1_dot_dot*((M1*l1^2)/3 + M2*l1^2 + (M2*l2^2)/3 + M2*l1*l2*cos(teta2)) + M2*ag*((l2*cos(teta1 + teta2))/2 + l1*cos(teta1)) + (M1*ag*l1*cos(teta1))/2 - (M2*l1*l2*teta2_dot^2*sin(teta2))/2 - M2*l1*l2*teta1_dot*teta2_dot*sin(teta2)
seconda equazione
tau2
teta1_dot_dot*((M2*l2^2)/3 + (M2*l1*cos(teta2)*l2)/2) + (M2*l2^2*teta2_dot_dot)/3 + (M2*ag*l2*cos(teta1 + teta2))/2 + (M2*l1*l2*teta1_dot^2*sin(teta2))/2
in forma matriciale/vettoriale
teta2_dot_dot*((M2*l2^2)/3 + (M2*l1*cos(teta2)*l2)/2) + teta1_dot_dot*((M1*l1^2)/3 + M2*l1^2 + (M2*l2^2)/3 + M2*l1*l2*cos(teta2)) + M2*ag*((l2*cos(teta1 + teta2))/2 + l1*cos(teta1)) + (M1*ag*l1*cos(teta1))/2 - (M2*l1*l2*teta2_dot^2*sin(teta2))/2 - M2*l1*l2*teta1_dot*teta2_dot*sin(teta2)
teta1_dot_dot*((M2*l2^2)/3 + (M2*l1*cos(teta2)*l2)/2) + (M2*l2^2*teta2_dot_dot)/3 + (M2*ag*l2*cos(teta1 + teta2))/2 + (M2*l1*l2*teta1_dot^2*sin(teta2))/2
con i dati del manipolatore
(49*cos(teta1 + teta2))/10 + (147*cos(teta1))/10 + teta1_dot_dot*(cos(teta2) + 5/3) - (teta2_dot^2*sin(teta2))/2 + teta2_dot_dot*(cos(teta2)/2 + 1/3) - teta1_dot*teta2_dot*sin(teta2)
(sin(teta2)*teta1_dot^2)/2 + teta2_dot_dot/3 + (49*cos(teta1 + teta2))/10 + teta1_dot_dot*(cos(teta2)/2 + 1/3)
scrivo il sistema nella forma: B(q)*q_dot_dot + C(q,q_dot)*q_dot + g(q) = tau
matrice B(q) dei termini inerziali
[ M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O, J2A + M2*b2*l1*cos(teta2)]
[ J2A + M2*b2*l1*cos(teta2), J2A]
vettore delle accelerazioni angolari q_dot_dot
teta1_dot_dot
teta2_dot_dot
matrice C(q,q_dot) dei termini centrifughi e di coriolis
[ -2*M2*b2*l1*teta2_dot*sin(teta2), -M2*b2*l1*teta2_dot*sin(teta2)]
[ M2*b2*l1*teta1_dot*sin(teta2), 0]
vettore delle velocità angolari q_dot
teta1_dot
teta2_dot
vettore g(q) dei termini gravitazionali
M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)
M2*ag*b2*cos(teta1 + teta2)
spazio di stato
vettore z2_dot
((M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (tau2_ss*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (J2A*tau1_ss)/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (J2A*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)
((J2A + M2*b2*l1*cos(teta2))*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (tau1_ss*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - ((M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (tau2_ss*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)
teta1_dot_dot
((M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (tau2_ss*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (J2A*tau1_ss)/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (J2A*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)
teta2_dot_dot
((J2A + M2*b2*l1*cos(teta2))*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (tau1_ss*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - ((M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (tau2_ss*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)
tau1
tau2
variabile di stato x1_dot
teta1_dot
variabile di stato x2_dot
teta2_dot
variabile di stato x3_dot
((M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (tau2_ss*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (J2A*tau1_ss)/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (J2A*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)
variabile di stato x4_dot
((J2A + M2*b2*l1*cos(teta2))*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (tau1_ss*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - ((M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (tau2_ss*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)
matrice A_ss
[ 0, 0, 1, 0]
[ 0, 0, 0, 1]
[ (J2A*(M2*ag*(b2*sin(teta1 + teta2) + l1*sin(teta1)) + M1*ag*b1*sin(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (M2*ag*b2*sin(teta1 + teta2)*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2), (J2A*(M2*b2*l1*cos(teta2)*teta2_dot^2 + 2*M2*b2*l1*teta1_dot*cos(teta2)*teta2_dot + M2*ag*b2*sin(teta1 + teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - ((- M2*b2*l1*cos(teta2)*teta1_dot^2 + M2*ag*b2*sin(teta1 + teta2))*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (M2*b2*l1*tau2_ss*sin(teta2))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (M2*b2*l1*sin(teta2)*(M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (2*M2^2*b2^2*l1^2*tau2_ss*cos(teta2)*sin(teta2)*(J2A + M2*b2*l1*cos(teta2)))/(- M2^2*b2^2*l1^2*cos(teta2)^2 + J2A*M2*l1^2 + J2A*J1O)^2 - (2*M2^2*b2^2*l1^2*cos(teta2)*sin(teta2)*(M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(J2A + M2*b2*l1*cos(teta2)))/(- M2^2*b2^2*l1^2*cos(teta2)^2 + J2A*M2*l1^2 + J2A*J1O)^2 - (2*J2A*M2^2*b2^2*l1^2*tau1_ss*cos(teta2)*sin(teta2))/(- M2^2*b2^2*l1^2*cos(teta2)^2 + J2A*M2*l1^2 + J2A*J1O)^2 + (2*J2A*M2^2*b2^2*l1^2*cos(teta2)*sin(teta2)*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(- M2^2*b2^2*l1^2*cos(teta2)^2 + J2A*M2*l1^2 + J2A*J1O)^2, (2*M2*b2*l1*teta1_dot*sin(teta2)*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (2*J2A*M2*b2*l1*teta2_dot*sin(teta2))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2), (J2A*(2*M2*b2*l1*teta1_dot*sin(teta2) + 2*M2*b2*l1*teta2_dot*sin(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)]
[ (M2*ag*b2*sin(teta1 + teta2)*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - ((M2*ag*(b2*sin(teta1 + teta2) + l1*sin(teta1)) + M1*ag*b1*sin(teta1))*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2), ((- M2*b2*l1*cos(teta2)*teta1_dot^2 + M2*ag*b2*sin(teta1 + teta2))*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - ((J2A + M2*b2*l1*cos(teta2))*(M2*b2*l1*cos(teta2)*teta2_dot^2 + 2*M2*b2*l1*teta1_dot*cos(teta2)*teta2_dot + M2*ag*b2*sin(teta1 + teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (M2*b2*l1*tau1_ss*sin(teta2))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (2*M2*b2*l1*tau2_ss*sin(teta2))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (M2*b2*l1*sin(teta2)*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (2*M2*b2*l1*sin(teta2)*(M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) + (2*M2^2*b2^2*l1^2*cos(teta2)*sin(teta2)*(M2*b2*l1*sin(teta2)*teta1_dot^2 + M2*ag*b2*cos(teta1 + teta2))*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(- M2^2*b2^2*l1^2*cos(teta2)^2 + J2A*M2*l1^2 + J2A*J1O)^2 + (2*M2^2*b2^2*l1^2*tau1_ss*cos(teta2)*sin(teta2)*(J2A + M2*b2*l1*cos(teta2)))/(- M2^2*b2^2*l1^2*cos(teta2)^2 + J2A*M2*l1^2 + J2A*J1O)^2 - (2*M2^2*b2^2*l1^2*cos(teta2)*sin(teta2)*(J2A + M2*b2*l1*cos(teta2))*(- M2*b2*l1*sin(teta2)*teta2_dot^2 - 2*M2*b2*l1*teta1_dot*sin(teta2)*teta2_dot + M2*ag*(b2*cos(teta1 + teta2) + l1*cos(teta1)) + M1*ag*b1*cos(teta1)))/(- M2^2*b2^2*l1^2*cos(teta2)^2 + J2A*M2*l1^2 + J2A*J1O)^2 - (2*M2^2*b2^2*l1^2*tau2_ss*cos(teta2)*sin(teta2)*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(- M2^2*b2^2*l1^2*cos(teta2)^2 + J2A*M2*l1^2 + J2A*J1O)^2, - (2*M2*b2*l1*teta2_dot*sin(teta2)*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2) - (2*M2*b2*l1*teta1_dot*sin(teta2)*(M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2), -((2*M2*b2*l1*teta1_dot*sin(teta2) + 2*M2*b2*l1*teta2_dot*sin(teta2))*(J2A + M2*b2*l1*cos(teta2)))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)]
matrice B_ss
[ 0, 0]
[ 0, 0]
[ J2A/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2), -(J2A + M2*b2*l1*cos(teta2))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)]
[ -(J2A + M2*b2*l1*cos(teta2))/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2), (M2*l1^2 + 2*M2*b2*cos(teta2)*l1 + J2A + J1O)/(J2A*J1O + J2A*M2*l1^2 - M2^2*b2^2*l1^2*cos(teta2)^2)]
matrice C_ss
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
matrice D_ss
0 0
0 0
0 0
0 0
matrice A_ss con i dati inseriti
[ 0, 0, 1, 0]
[ 0, 0, 0, 1]
[ (49*sin(teta1 + teta2)*(cos(teta2)/2 + 1/3))/(10*(cos(teta2)^2/4 - 4/9)) - ((49*sin(teta1 + teta2))/30 + (49*sin(teta1))/10)/(cos(teta2)^2/4 - 4/9), (sin(teta2)*((sin(teta2)*teta1_dot^2)/2 + (49*cos(teta1 + teta2))/10))/(2*(cos(teta2)^2/4 - 4/9)) - (tau2_ss*sin(teta2))/(2*(cos(teta2)^2/4 - 4/9)) - ((cos(teta2)*teta2_dot^2)/6 + (teta1_dot*cos(teta2)*teta2_dot)/3 + (49*sin(teta1 + teta2))/30)/(cos(teta2)^2/4 - 4/9) + (((49*sin(teta1 + teta2))/10 - (teta1_dot^2*cos(teta2))/2)*(cos(teta2)/2 + 1/3))/(cos(teta2)^2/4 - 4/9) + (cos(teta2)*sin(teta2)*((49*cos(teta1 + teta2))/10 + (147*cos(teta1))/10 - (teta2_dot^2*sin(teta2))/2 - teta1_dot*teta2_dot*sin(teta2)))/(6*(cos(teta2)^2/4 - 4/9)^2) - (tau1_ss*cos(teta2)*sin(teta2))/(6*(cos(teta2)^2/4 - 4/9)^2) + (tau2_ss*cos(teta2)*sin(teta2)*(cos(teta2)/2 + 1/3))/(2*(cos(teta2)^2/4 - 4/9)^2) - (cos(teta2)*sin(teta2)*((sin(teta2)*teta1_dot^2)/2 + (49*cos(teta1 + teta2))/10)*(cos(teta2)/2 + 1/3))/(2*(cos(teta2)^2/4 - 4/9)^2), - (teta2_dot*sin(teta2))/(3*(cos(teta2)^2/4 - 4/9)) - (teta1_dot*sin(teta2)*(cos(teta2)/2 + 1/3))/(cos(teta2)^2/4 - 4/9), -((teta1_dot*sin(teta2))/3 + (teta2_dot*sin(teta2))/3)/(cos(teta2)^2/4 - 4/9)]
[ ((cos(teta2)/2 + 1/3)*((49*sin(teta1 + teta2))/10 + (147*sin(teta1))/10))/(cos(teta2)^2/4 - 4/9) - (49*sin(teta1 + teta2)*(cos(teta2) + 5/3))/(10*(cos(teta2)^2/4 - 4/9)), (tau2_ss*sin(teta2))/(cos(teta2)^2/4 - 4/9) - (tau1_ss*sin(teta2))/(2*(cos(teta2)^2/4 - 4/9)) - (sin(teta2)*((sin(teta2)*teta1_dot^2)/2 + (49*cos(teta1 + teta2))/10))/(cos(teta2)^2/4 - 4/9) - ((cos(teta2) + 5/3)*((49*sin(teta1 + teta2))/10 - (teta1_dot^2*cos(teta2))/2))/(cos(teta2)^2/4 - 4/9) + (sin(teta2)*((49*cos(teta1 + teta2))/10 + (147*cos(teta1))/10 - (teta2_dot^2*sin(teta2))/2 - teta1_dot*teta2_dot*sin(teta2)))/(2*(cos(teta2)^2/4 - 4/9)) + ((cos(teta2)/2 + 1/3)*((cos(teta2)*teta2_dot^2)/2 + teta1_dot*cos(teta2)*teta2_dot + (49*sin(teta1 + teta2))/10))/(cos(teta2)^2/4 - 4/9) - (tau2_ss*cos(teta2)*sin(teta2)*(cos(teta2) + 5/3))/(2*(cos(teta2)^2/4 - 4/9)^2) + (cos(teta2)*sin(teta2)*(cos(teta2) + 5/3)*((sin(teta2)*teta1_dot^2)/2 + (49*cos(teta1 + teta2))/10))/(2*(cos(teta2)^2/4 - 4/9)^2) + (tau1_ss*cos(teta2)*sin(teta2)*(cos(teta2)/2 + 1/3))/(2*(cos(teta2)^2/4 - 4/9)^2) - (cos(teta2)*sin(teta2)*(cos(teta2)/2 + 1/3)*((49*cos(teta1 + teta2))/10 + (147*cos(teta1))/10 - (teta2_dot^2*sin(teta2))/2 - teta1_dot*teta2_dot*sin(teta2)))/(2*(cos(teta2)^2/4 - 4/9)^2), (teta1_dot*sin(teta2)*(cos(teta2) + 5/3))/(cos(teta2)^2/4 - 4/9) + (teta2_dot*sin(teta2)*(cos(teta2)/2 + 1/3))/(cos(teta2)^2/4 - 4/9), ((cos(teta2)/2 + 1/3)*(teta1_dot*sin(teta2) + teta2_dot*sin(teta2)))/(cos(teta2)^2/4 - 4/9)]
matrice B_ss con i dati inseriti
[ 0, 0]
[ 0, 0]
[ -1/(3*(cos(teta2)^2/4 - 4/9)), (cos(teta2)/2 + 1/3)/(cos(teta2)^2/4 - 4/9)]
[ (cos(teta2)/2 + 1/3)/(cos(teta2)^2/4 - 4/9), -(cos(teta2) + 5/3)/(cos(teta2)^2/4 - 4/9)]
matrice C_ss
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
matrice D_ss
0 0
0 0
0 0
0 0
matrice A_ss valutata nel punto di equilibrio
0 0 1.0000 0
0 0 0 1.0000
0.0000 -0.0000 0 0
-0.0000 0.0000 0 0
matrice B_ss valutata nel punto di equilibrio
0 0
0 0
1.7143 -4.2857
-4.2857 13.7143
matrice C_ss
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
matrice D_ss
0 0
0 0
0 0
0 0
ILC2dof
{Error using <a href="matlab:matlab.internal.language.introspective.errorDocCallback('sym/max', 'C:\Program Files\MATLAB\R2018b\toolbox\symbolic\symbolic\@sym\max.m', 123)" style="font-weight:bold">sym/max</a> (<a href="matlab: opentoline('C:\Program Files\MATLAB\R2018b\toolbox\symbolic\symbolic\@sym\max.m',123,0)">line 123</a>)
Input arguments must be convertible to floating-point numbers.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 68)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',68,0)">line 68</a>)
xd1_old = pi/2*(x/max(x)); }
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',68,0)
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',68,0)
PD2dof
{Matrix dimensions must agree.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('PD2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m', 151)" style="font-weight:bold">PD2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',151,0)">line 151</a>)
e_pos1 = controllo.signals.values(:,1) - uscita.signals.values(:,1); %errore posizione 1 }
PD2dof
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{Error using <a href="matlab:matlab.internal.language.introspective.errorDocCallback('mtimes')" style="font-weight:bold"> * </a>
Incorrect dimensions for matrix multiplication. Check that the number of columns in the first matrix matches the number of rows in the
second matrix. To perform elementwise multiplication, use '.*'.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('PD2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m', 143)" style="font-weight:bold">PD2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',143,0)">line 143</a>)
xd2_old = pi*(T*x/max(x)); }
PD2dof
PD2dof
PD2dof
PD2dof
{Error using <a href="matlab:matlab.internal.language.introspective.errorDocCallback('horzcat')" style="font-weight:bold">horzcat</a>
Dimensions of arrays being concatenated are not consistent.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('PD2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m', 82)" style="font-weight:bold">PD2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\PD2dof.m',82,0)">line 82</a>)
controllo.signals.values = [x1_d,x2_d];}
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{Undefined function or variable 'x'.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 67)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',67,0)">line 67</a>)
x xd1_old = pi/2*(x/max(x));}
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{Undefined function or variable 'min_err3'.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 99)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',99,0)">line 99</a>)
if(v1_d - uscita.signals.values(:,3))<min_err3}
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<a href="matlab: opentoline('C:\Program Files\MATLAB\R2018b\toolbox\shared\spcuilib\unifiedscopes\+matlabshared\+scopes\+tool\@PlotNavigation\onVisualChanged.m',89,1)">89 </a> if ~isempty(hSplitAutoscale) && ~isempty(hDynamicAutoscale)
if system_dependent('IsDebugMode')==1, dbquit; end
<a href="matlab: opentoline('C:\Program Files\MATLAB\R2018b\toolbox\matlab\graphics\+matlab\+graphics\+interaction\InteractionContainer.m',55,1)">55 </a> e = obj.Enabled_I;
{Error using <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 54)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',54,0)">line 54</a>)
debug session was interrupted.}
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{Error using <a href="matlab:matlab.internal.language.introspective.errorDocCallback('grid', 'C:\Program Files\MATLAB\R2018b\toolbox\matlab\graph2d\grid.m', 153)" style="font-weight:bold">grid</a> (<a href="matlab: opentoline('C:\Program Files\MATLAB\R2018b\toolbox\matlab\graph2d\grid.m',153,0)">line 153</a>)
Unknown command option.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 96)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',96,0)">line 96</a>)
grid clc}
opentoline('C:\Program Files\MATLAB\R2018b\toolbox\matlab\graph2d\grid.m',153,0)
opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',96,0)
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<a href="matlab: opentoline('C:\Program Files\MATLAB\R2018b\toolbox\matlab\elmat\flipud.m',14,1)">14 </a>x = flip(x,1);
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<a href="matlab: opentoline('C:\Program Files\MATLAB\R2018b\toolbox\shared\spcuilib\slscopes\+Simulink\+scopes\+source\@WiredSource\WiredSource.m',45,1)">45 </a> this.TimeToUpdateTextListener = event.listener(this.Application, 'TimeToUpdateText', @this.updateText);
<a href="matlab: opentoline('C:\Program Files\MATLAB\R2018b\toolbox\matlab\testframework\unittest\core\+matlab\+unittest\+internal\whichFile.m',11,1)">11 </a>end
if system_dependent('IsDebugMode')==1, dbquit; end
if system_dependent('IsDebugMode')==1, dbquit; end
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{Error using <a href="matlab:matlab.internal.language.introspective.errorDocCallback('horzcat')" style="font-weight:bold">horzcat</a>
Dimensions of arrays being concatenated are not consistent.
Error in <a href="matlab:matlab.internal.language.introspective.errorDocCallback('ILC2dof', 'C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m', 83)" style="font-weight:bold">ILC2dof</a> (<a href="matlab: opentoline('C:\Users\Simone\Documents\MATLAB\6DOF\ILC2dof.m',83,0)">line 83</a>)
controllo.signals.values = [x1_d,x2_d];}
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