├── Controls_Plant_1.adm ├── Controls_Plant_1.cmd ├── Controls_Plant_1.gra ├── Controls_Plant_1.m ├── Controls_Plant_1.msg ├── Controls_Plant_1.req ├── Controls_Plant_1.res ├── MDHTrans.m ├── NE_dynamic.m ├── PD_control.slx ├── PD_control.slxc ├── PID_control.slx ├── PID_control.slxc ├── README.md ├── Untitled Diagram.drawio ├── adams_sys_.slx ├── aviewAS.cmd ├── dynamic.slx ├── dynamic.slxc ├── dynamic_solver.m ├── myNewtonEuler_back.m ├── seven_dof_arm.bin └── slprj ├── _jitprj ├── jitEngineAccessInfo.mat ├── sQbvlplbgiwjdIaL6HSqMSC.l ├── sQbvlplbgiwjdIaL6HSqMSC.mat ├── sb94NmQz67DfZudcs4yg6wC.l └── sb94NmQz67DfZudcs4yg6wC.mat ├── _sfprj ├── EMLReport │ ├── 4LUNzDxTZvojRd4ZGJyE1B.mat │ ├── emlReportAccessInfo.mat │ ├── sQbvlplbgiwjdIaL6HSqMSC.mat │ └── sb94NmQz67DfZudcs4yg6wC.mat ├── dynamic │ └── _self │ │ └── sfun │ │ └── info │ │ └── binfo.mat └── precompile │ ├── autoInferAccessInfo.mat │ ├── ilQx9LQ8IFqqZahHSRVb9B.mat │ └── lpiVdFEzbliR0t92hilOVE.mat └── sim └── varcache ├── PD_control ├── checksumOfCache.mat ├── simulink_cache.xml ├── tmwinternal │ └── simulink_cache.xml └── varInfo.mat ├── PID_control ├── checksumOfCache.mat ├── tmwinternal │ └── simulink_cache.xml └── varInfo.mat └── dynamic ├── checksumOfCache.mat ├── tmwinternal └── simulink_cache.xml └── varInfo.mat /Controls_Plant_1.adm: -------------------------------------------------------------------------------- 1 | Adams View model name: MODEL_1 2 | ! 3 | !-------------------------------- SYSTEM UNITS --------------------------------- 4 | ! 5 | UNITS/ 6 | , FORCE = NEWTON 7 | , MASS = KILOGRAM 8 | , LENGTH = METER 9 | , TIME = SECOND 10 | ! 11 | !----------------------------------- PARTS ------------------------------------- 12 | ! 13 | !----------------------------------- Ground ------------------------------------ 14 | ! 15 | ! adams_view_name='ground' 16 | PART/1 17 | , GROUND 18 | ! 19 | ! adams_view_name='q0' 20 | MARKER/22 21 | , PART = 1 22 | , QP = 0, 0.28, 0 23 | , REULER = 180D, 90D, 90D 24 | ! 25 | ! adams_view_name='MARKER_43' 26 | MARKER/43 27 | , PART = 1 28 | , QP = 0, 0.28, 0 29 | , REULER = 180D, 90D, 180D 30 | ! 31 | !------------------------------------ Part ------------------------------------- 32 | ! 33 | ! adams_view_name='PART_1' 34 | PART/3 35 | , MASS = 30.00001 36 | , CM = 35 37 | , IP = 0.4000104362, 0.4000102403, 0.049010196 38 | ! 39 | ! adams_view_name='MARKER_1' 40 | MARKER/1 41 | , PART = 3 42 | , REULER = 270D, 90D, 180D 43 | ! 44 | ! adams_view_name='MARKER_2' 45 | MARKER/2 46 | , PART = 3 47 | , QP = 0, 0.28, 0 48 | , REULER = 270D, 90D, 180D 49 | ! 50 | ! adams_view_name='MARKER_3' 51 | MARKER/3 52 | , PART = 3 53 | , QP = 0, 0.28, 0 54 | , REULER = 270D, 90D, 270D 55 | ! 56 | ! adams_view_name='MARKER_4' 57 | MARKER/4 58 | , PART = 3 59 | , QP = 0, 0.28, -0.31 60 | , REULER = 270D, 90D, 270D 61 | ! 62 | ! adams_view_name='q11' 63 | MARKER/21 64 | , PART = 3 65 | , QP = 0, 0.28, 0 66 | , REULER = 180D, 90D, 90D 67 | ! 68 | ! adams_view_name='q1' 69 | MARKER/24 70 | , PART = 3 71 | , QP = 0, 0.28, -0.31 72 | , REULER = 90D, 180D, 0D 73 | ! 74 | ! adams_view_name='cm' 75 | MARKER/35 76 | , PART = 3 77 | , QP = 0, 0.2799999533, -0.1549999483 78 | ! 79 | ! adams_view_name='MARKER_42' 80 | MARKER/42 81 | , PART = 3 82 | , QP = 0, 0.28, 0 83 | , REULER = 180D, 90D, 180D 84 | ! 85 | ! adams_view_name='MARKER_53' 86 | MARKER/53 87 | , PART = 3 88 | , QP = 0, 0.28, -0.31 89 | ! 90 | !------------------------------------ Part ------------------------------------- 91 | ! 92 | ! adams_view_name='PART_2' 93 | PART/4 94 | , MASS = 30 95 | , CM = 36 96 | , IP = 0.4, 0.4, 0.049 97 | ! 98 | ! adams_view_name='MARKER_5' 99 | MARKER/5 100 | , PART = 4 101 | , QP = 0, 0.28, -0.31 102 | , REULER = 270D, 90D, 180D 103 | ! 104 | ! adams_view_name='MARKER_6' 105 | MARKER/6 106 | , PART = 4 107 | , QP = 0, 0.59, -0.31 108 | , REULER = 270D, 90D, 180D 109 | ! 110 | ! adams_view_name='MARKER_23' 111 | MARKER/23 112 | , PART = 4 113 | , QP = 0, 0.28, -0.31 114 | , REULER = 90D, 180D, 0D 115 | ! 116 | ! adams_view_name='q2' 117 | MARKER/26 118 | , PART = 4 119 | , QP = 0, 0.59, -0.31 120 | , REULER = 180D, 90D, 90D 121 | ! 122 | ! adams_view_name='cm' 123 | MARKER/36 124 | , PART = 4 125 | , QP = 0, 0.435, -0.31 126 | , REULER = 180D, 90D, 90D 127 | ! 128 | ! adams_view_name='MARKER_45' 129 | MARKER/45 130 | , PART = 4 131 | , QP = 0, 0.59, -0.31 132 | , REULER = 180D, 90D, 180D 133 | ! 134 | ! adams_view_name='MARKER_52' 135 | MARKER/52 136 | , PART = 4 137 | , QP = 0, 0.28, -0.31 138 | ! 139 | !------------------------------------ Part ------------------------------------- 140 | ! 141 | ! adams_view_name='PART_3' 142 | PART/5 143 | , MASS = 154.000001 144 | , CM = 37 145 | , IP = 50.00000192, 50.0000019, 0.2500010182 146 | ! 147 | ! adams_view_name='MARKER_7' 148 | MARKER/7 149 | , PART = 5 150 | , QP = 0, 0.59, -0.31 151 | , REULER = 270D, 90D, 270D 152 | ! 153 | ! adams_view_name='MARKER_8' 154 | MARKER/8 155 | , PART = 5 156 | , QP = 0, 0.59, -2.21 157 | , REULER = 270D, 90D, 270D 158 | ! 159 | ! adams_view_name='MARKER_9' 160 | MARKER/9 161 | , PART = 5 162 | , QP = 0, 0.59, -2.21 163 | , REULER = 270D, 90D, 180D 164 | ! 165 | ! adams_view_name='MARKER_10' 166 | MARKER/10 167 | , PART = 5 168 | , QP = 0, 0.86, -2.21 169 | , REULER = 270D, 90D, 180D 170 | ! 171 | ! adams_view_name='MARKER_25' 172 | MARKER/25 173 | , PART = 5 174 | , QP = 0, 0.59, -0.31 175 | , REULER = 180D, 90D, 90D 176 | ! 177 | ! adams_view_name='MARKER_28' 178 | MARKER/28 179 | , PART = 5 180 | , QP = 0, 0.86, -2.21 181 | , REULER = 180D, 90D, 90D 182 | ! 183 | ! adams_view_name='cm' 184 | MARKER/37 185 | , PART = 5 186 | , QP = 0, 0.5900000009, -1.260000006 187 | ! 188 | ! adams_view_name='q3' 189 | MARKER/44 190 | , PART = 5 191 | , QP = 0, 0.59, -0.31 192 | , REULER = 180D, 90D, 180D 193 | ! 194 | ! adams_view_name='MARKER_47' 195 | MARKER/47 196 | , PART = 5 197 | , QP = 0, 0.86, -2.21 198 | , REULER = 180D, 90D, 180D 199 | ! 200 | !------------------------------------ Part ------------------------------------- 201 | ! 202 | ! adams_view_name='PART_4' 203 | PART/7 204 | , MASS = 154.0000001 205 | , CM = 38 206 | , IP = 50.0000001, 50.00000009, 0.2500001018 207 | ! 208 | ! adams_view_name='MARKER_11' 209 | MARKER/11 210 | , PART = 7 211 | , QP = 0, 0.86, -2.21 212 | , REULER = 270D, 90D, 270D 213 | ! 214 | ! adams_view_name='MARKER_12' 215 | MARKER/12 216 | , PART = 7 217 | , QP = 0, 0.86, -4.11 218 | , REULER = 270D, 90D, 270D 219 | ! 220 | ! adams_view_name='MARKER_13' 221 | MARKER/13 222 | , PART = 7 223 | , QP = 0, 0.86, -4.11 224 | , REULER = 270D, 90D, 180D 225 | ! 226 | ! adams_view_name='MARKER_14' 227 | MARKER/14 228 | , PART = 7 229 | , QP = 0, 1.13, -4.11 230 | , REULER = 270D, 90D, 180D 231 | ! 232 | ! adams_view_name='MARKER_27' 233 | MARKER/27 234 | , PART = 7 235 | , QP = 0, 0.86, -2.21 236 | , REULER = 180D, 90D, 90D 237 | ! 238 | ! adams_view_name='q4' 239 | MARKER/30 240 | , PART = 7 241 | , QP = 0, 1.13, -4.11 242 | , REULER = 180D, 90D, 90D 243 | ! 244 | ! adams_view_name='cm' 245 | MARKER/38 246 | , PART = 7 247 | , QP = 0, 0.8600000001, -3.160000001 248 | , REULER = 90D, 180D, 0D 249 | ! 250 | ! adams_view_name='MARKER_46' 251 | MARKER/46 252 | , PART = 7 253 | , QP = 0, 0.86, -2.21 254 | , REULER = 180D, 90D, 180D 255 | ! 256 | ! adams_view_name='MARKER_49' 257 | MARKER/49 258 | , PART = 7 259 | , QP = 0, 1.13, -4.11 260 | , REULER = 180D, 90D, 180D 261 | ! 262 | !------------------------------------ Part ------------------------------------- 263 | ! 264 | ! adams_view_name='PART_5' 265 | PART/9 266 | , MASS = 30 267 | , CM = 39 268 | , IP = 0.4, 0.4, 0.049 269 | ! 270 | ! adams_view_name='MARKER_15' 271 | MARKER/15 272 | , PART = 9 273 | , QP = 0, 1.13, -4.11 274 | , REULER = 270D, 90D, 270D 275 | ! 276 | ! adams_view_name='MARKER_16' 277 | MARKER/16 278 | , PART = 9 279 | , QP = 0, 1.13, -4.42 280 | , REULER = 270D, 90D, 270D 281 | ! 282 | ! adams_view_name='MARKER_29' 283 | MARKER/29 284 | , PART = 9 285 | , QP = 0, 1.13, -4.11 286 | , REULER = 180D, 90D, 90D 287 | ! 288 | ! adams_view_name='q5' 289 | MARKER/32 290 | , PART = 9 291 | , QP = 0, 1.13, -4.42 292 | , REULER = 90D, 180D, 0D 293 | ! 294 | ! adams_view_name='cm' 295 | MARKER/39 296 | , PART = 9 297 | , QP = 0, 1.13, -4.265 298 | , REULER = 90D, 180D, 0D 299 | ! 300 | ! adams_view_name='MARKER_48' 301 | MARKER/48 302 | , PART = 9 303 | , QP = 0, 1.13, -4.11 304 | , REULER = 180D, 90D, 180D 305 | ! 306 | ! adams_view_name='MARKER_55' 307 | MARKER/55 308 | , PART = 9 309 | , QP = 0, 1.13, -4.42 310 | ! 311 | !------------------------------------ Part ------------------------------------- 312 | ! 313 | ! adams_view_name='PART_6' 314 | PART/10 315 | , MASS = 56 316 | , CM = 40 317 | , IP = 2.5, 2.5, 0.093 318 | ! 319 | ! adams_view_name='MARKER_17' 320 | MARKER/17 321 | , PART = 10 322 | , QP = 0, 1.13, -4.42 323 | , REULER = 270D, 90D, 180D 324 | ! 325 | ! adams_view_name='MARKER_18' 326 | MARKER/18 327 | , PART = 10 328 | , QP = 0, 1.78, -4.42 329 | , REULER = 270D, 90D, 180D 330 | ! 331 | ! adams_view_name='MARKER_31' 332 | MARKER/31 333 | , PART = 10 334 | , QP = 0, 1.13, -4.42 335 | , REULER = 90D, 180D, 0D 336 | ! 337 | ! adams_view_name='q6' 338 | MARKER/34 339 | , PART = 10 340 | , QP = 0, 1.78, -4.42 341 | , REULER = 180D, 90D, 90D 342 | ! 343 | ! adams_view_name='cm' 344 | MARKER/40 345 | , PART = 10 346 | , QP = 0, 1.455, -4.42 347 | , REULER = 180D, 90D, 90D 348 | ! 349 | ! adams_view_name='MARKER_51' 350 | MARKER/51 351 | , PART = 10 352 | , QP = 0, 1.78, -4.42 353 | , REULER = 180D, 90D, 180D 354 | ! 355 | ! adams_view_name='MARKER_54' 356 | MARKER/54 357 | , PART = 10 358 | , QP = 0, 1.13, -4.42 359 | ! 360 | !------------------------------------ Part ------------------------------------- 361 | ! 362 | ! adams_view_name='PART_7' 363 | PART/11 364 | , MASS = 29 365 | , CM = 41 366 | , IP = 0.37, 0.37, 0.047 367 | ! 368 | ! adams_view_name='MARKER_19' 369 | MARKER/19 370 | , PART = 11 371 | , QP = 0, 1.78, -4.42 372 | , REULER = 270D, 90D, 180D 373 | ! 374 | ! adams_view_name='MARKER_20' 375 | MARKER/20 376 | , PART = 11 377 | , QP = 0, 2.08, -4.42 378 | , REULER = 270D, 90D, 180D 379 | ! 380 | ! adams_view_name='q7' 381 | MARKER/33 382 | , PART = 11 383 | , QP = 0, 1.78, -4.42 384 | , REULER = 180D, 90D, 90D 385 | ! 386 | ! adams_view_name='cm' 387 | MARKER/41 388 | , PART = 11 389 | , QP = 0, 1.93, -4.42 390 | , REULER = 180D, 90D, 90D 391 | ! 392 | ! adams_view_name='MARKER_50' 393 | MARKER/50 394 | , PART = 11 395 | , QP = 0, 1.78, -4.42 396 | , REULER = 180D, 90D, 180D 397 | ! 398 | !------------------------------ DYNAMIC GRAPHICS ------------------------------- 399 | ! 400 | ! adams_view_name='SFORCE_1_force_graphic_1' 401 | GRAPHICS/1 402 | , FORCE 403 | , ETYPE = SFORCE 404 | , EID = 1 405 | , EMARKER = 42 406 | ! 407 | ! adams_view_name='SFORCE_1_2_force_graphic_1' 408 | GRAPHICS/2 409 | , FORCE 410 | , ETYPE = SFORCE 411 | , EID = 2 412 | , EMARKER = 44 413 | ! 414 | ! adams_view_name='SFORCE_1_3_force_graphic_1' 415 | GRAPHICS/3 416 | , FORCE 417 | , ETYPE = SFORCE 418 | , EID = 3 419 | , EMARKER = 46 420 | ! 421 | ! adams_view_name='SFORCE_1_4_force_graphic_1' 422 | GRAPHICS/4 423 | , FORCE 424 | , ETYPE = SFORCE 425 | , EID = 4 426 | , EMARKER = 48 427 | ! 428 | ! adams_view_name='SFORCE_1_5_force_graphic_1' 429 | GRAPHICS/5 430 | , FORCE 431 | , ETYPE = SFORCE 432 | , EID = 5 433 | , EMARKER = 50 434 | ! 435 | ! adams_view_name='SFORCE_1_6_force_graphic_1' 436 | GRAPHICS/6 437 | , FORCE 438 | , ETYPE = SFORCE 439 | , EID = 6 440 | , EMARKER = 52 441 | ! 442 | ! adams_view_name='SFORCE_1_7_force_graphic_1' 443 | GRAPHICS/7 444 | , FORCE 445 | , ETYPE = SFORCE 446 | , EID = 7 447 | , EMARKER = 54 448 | ! 449 | !-------------------------------- CONSTRAINTS ---------------------------------- 450 | ! 451 | ! adams_view_name='JOINT_1' 452 | JOINT/1 453 | , REVOLUTE 454 | , I = 21 455 | , J = 22 456 | ! 457 | ! adams_view_name='JOINT_2' 458 | JOINT/2 459 | , REVOLUTE 460 | , I = 23 461 | , J = 24 462 | ! 463 | ! adams_view_name='JOINT_3' 464 | JOINT/3 465 | , REVOLUTE 466 | , I = 25 467 | , J = 26 468 | ! 469 | ! adams_view_name='JOINT_4' 470 | JOINT/4 471 | , REVOLUTE 472 | , I = 27 473 | , J = 28 474 | ! 475 | ! adams_view_name='JOINT_5' 476 | JOINT/5 477 | , REVOLUTE 478 | , I = 29 479 | , J = 30 480 | ! 481 | ! adams_view_name='JOINT_6' 482 | JOINT/6 483 | , REVOLUTE 484 | , I = 31 485 | , J = 32 486 | ! 487 | ! adams_view_name='JOINT_7' 488 | JOINT/7 489 | , REVOLUTE 490 | , I = 33 491 | , J = 34 492 | ! 493 | ! adams_view_name='MOTION_1' 494 | !MOTION/1 495 | !, ROTATIONAL 496 | !, JOINT = 1 497 | !, FUNCTION = 0 498 | ! 499 | ! adams_view_name='MOTION_2' 500 | !MOTION/2 501 | !, ROTATIONAL 502 | !, JOINT = 2 503 | !, FUNCTION = 0 504 | ! 505 | ! adams_view_name='MOTION_3' 506 | !MOTION/3 507 | !, ROTATIONAL 508 | !, JOINT = 3 509 | !, FUNCTION = 0 510 | ! 511 | ! adams_view_name='MOTION_4' 512 | !MOTION/4 513 | !, ROTATIONAL 514 | !, JOINT = 4 515 | !, FUNCTION = 0 516 | ! 517 | ! adams_view_name='MOTION_5' 518 | !MOTION/5 519 | !, ROTATIONAL 520 | !, JOINT = 5 521 | !, FUNCTION = 0 522 | ! 523 | ! adams_view_name='MOTION_6' 524 | !MOTION/6 525 | !, ROTATIONAL 526 | !, JOINT = 6 527 | !, FUNCTION = 0 528 | ! 529 | ! adams_view_name='MOTION_7' 530 | !MOTION/7 531 | !, ROTATIONAL 532 | !, JOINT = 7 533 | !, FUNCTION = 0 534 | ! 535 | !----------------------------------- FORCES ------------------------------------ 536 | ! 537 | ! adams_view_name='SFORCE_1' 538 | SFORCE/1 539 | , ROTATIONAL 540 | , I = 42 541 | , J = 43 542 | , FUNCTION = VARVAL(1) 543 | ! 544 | ! adams_view_name='SFORCE_3' 545 | SFORCE/2 546 | , ROTATIONAL 547 | , I = 44 548 | , J = 45 549 | , FUNCTION = VARVAL(3) 550 | ! 551 | ! adams_view_name='SFORCE_4' 552 | SFORCE/3 553 | , ROTATIONAL 554 | , I = 46 555 | , J = 47 556 | , FUNCTION = VARVAL(4) 557 | ! 558 | ! adams_view_name='SFORCE_5' 559 | SFORCE/4 560 | , ROTATIONAL 561 | , I = 48 562 | , J = 49 563 | , FUNCTION = VARVAL(5) 564 | ! 565 | ! adams_view_name='SFORCE_7' 566 | SFORCE/5 567 | , ROTATIONAL 568 | , I = 50 569 | , J = 51 570 | , FUNCTION = VARVAL(7) 571 | ! 572 | ! adams_view_name='SFORCE_2' 573 | SFORCE/6 574 | , ROTATIONAL 575 | , I = 52 576 | , J = 53 577 | , FUNCTION = -VARVAL(2) 578 | ! 579 | ! adams_view_name='SFORCE_6' 580 | SFORCE/7 581 | , ROTATIONAL 582 | , I = 54 583 | , J = 55 584 | , FUNCTION = -VARVAL(6) 585 | ! 586 | !------------------------------ DATA STRUCTURES -------------------------------- 587 | ! 588 | ! adams_view_name='torque1' 589 | VARIABLE/1 590 | , IC = 0 591 | , FUNCTION = 0 592 | ! 593 | ! adams_view_name='torque2' 594 | VARIABLE/2 595 | , IC = 0 596 | , FUNCTION = 0 597 | ! 598 | ! adams_view_name='torque3' 599 | VARIABLE/3 600 | , IC = 0 601 | , FUNCTION = 0 602 | ! 603 | ! adams_view_name='torque4' 604 | VARIABLE/4 605 | , IC = 0 606 | , FUNCTION = 0 607 | ! 608 | ! adams_view_name='torque5' 609 | VARIABLE/5 610 | , IC = 0 611 | , FUNCTION = 0 612 | ! 613 | ! adams_view_name='torque6' 614 | VARIABLE/6 615 | , IC = 0 616 | , FUNCTION = 0 617 | ! 618 | ! adams_view_name='torque7' 619 | VARIABLE/7 620 | , IC = 0 621 | , FUNCTION = 0 622 | ! 623 | ! adams_view_name='v1' 624 | VARIABLE/8 625 | , IC = 0 626 | , FUNCTION = WZ( 24, 22, 22) 627 | ! 628 | ! adams_view_name='v2' 629 | VARIABLE/9 630 | , IC = 0 631 | , FUNCTION = WZ( 26, 24, 24) 632 | ! 633 | ! adams_view_name='v3' 634 | VARIABLE/10 635 | , IC = 0 636 | , FUNCTION = WZ( 44, 26, 26) 637 | ! 638 | ! adams_view_name='v4' 639 | VARIABLE/11 640 | , IC = 0 641 | , FUNCTION = WZ( 30, 44, 44) 642 | ! 643 | ! adams_view_name='v5' 644 | VARIABLE/12 645 | , IC = 0 646 | , FUNCTION = WZ( 32, 30, 30) 647 | ! 648 | ! adams_view_name='v6' 649 | VARIABLE/13 650 | , IC = 0 651 | , FUNCTION = WZ( 34, 32, 32) 652 | ! 653 | ! adams_view_name='v7' 654 | VARIABLE/14 655 | , IC = 0 656 | , FUNCTION = WZ( 33, 34, 34) 657 | ! 658 | ! adams_view_name='qm1' 659 | VARIABLE/15 660 | , IC = 0 661 | , FUNCTION = varval(22) 662 | ! 663 | ! adams_view_name='qm2' 664 | VARIABLE/16 665 | , IC = 0 666 | , FUNCTION = varval(23) 667 | ! 668 | ! adams_view_name='qm3' 669 | VARIABLE/17 670 | , IC = 0 671 | , FUNCTION = varval(24) 672 | ! 673 | ! adams_view_name='qm4' 674 | VARIABLE/18 675 | , IC = 0 676 | , FUNCTION = varval(25) 677 | ! 678 | ! adams_view_name='qm5' 679 | VARIABLE/19 680 | , IC = 0 681 | , FUNCTION = varval(26) 682 | ! 683 | ! adams_view_name='qm6' 684 | VARIABLE/20 685 | , IC = 0 686 | , FUNCTION = varval(27) 687 | ! 688 | ! adams_view_name='qm7' 689 | VARIABLE/21 690 | , IC = 0 691 | , FUNCTION = varval(28) 692 | ! 693 | ! adams_view_name='JOINT_1_MEA_1' 694 | VARIABLE/22 695 | , FUNCTION = RTOD * AZ(21,22) 696 | ! 697 | ! adams_view_name='JOINT_2_MEA_1' 698 | VARIABLE/23 699 | , FUNCTION = RTOD * AZ(23,24) 700 | ! 701 | ! adams_view_name='JOINT_3_MEA_1' 702 | VARIABLE/24 703 | , FUNCTION = RTOD * AZ(25,26) 704 | ! 705 | ! adams_view_name='JOINT_4_MEA_1' 706 | VARIABLE/25 707 | , FUNCTION = RTOD * AZ(27,28) 708 | ! 709 | ! adams_view_name='JOINT_5_MEA_1' 710 | VARIABLE/26 711 | , FUNCTION = RTOD * AZ(29,30) 712 | ! 713 | ! adams_view_name='JOINT_6_MEA_1' 714 | VARIABLE/27 715 | , FUNCTION = RTOD * AZ(31,32) 716 | ! 717 | ! adams_view_name='JOINT_7_MEA_1' 718 | VARIABLE/28 719 | , FUNCTION = RTOD * AZ(33,34) 720 | ! 721 | ! adams_view_name='ns.ctrl_pinput' 722 | PINPUT/1 723 | , VARIABLES = 1, 2, 3, 4, 5, 6, 7 724 | ! 725 | ! adams_view_name='ns2.ctrl_pinput' 726 | PINPUT/2 727 | , VARIABLES = 1, 2, 3, 4, 5, 6, 7 728 | ! 729 | ! adams_view_name='ns3.ctrl_pinput' 730 | PINPUT/3 731 | , VARIABLES = 1, 2, 3, 4, 5, 6, 7 732 | ! 733 | ! adams_view_name='Controls_Plant_1.ctrl_pinput' 734 | PINPUT/4 735 | , VARIABLES = 1, 2, 3, 4, 5, 6, 7 736 | ! 737 | ! adams_view_name='ns.ctrl_poutput' 738 | POUTPUT/1 739 | , VARIABLES = 15, 16, 17, 18, 19, 20, 21, 8, 9, 10, 11, 12, 13, 14 740 | ! 741 | ! adams_view_name='ns2.ctrl_poutput' 742 | POUTPUT/2 743 | , VARIABLES = 15, 16, 17, 18, 19, 20, 21, 8, 9, 10, 11, 12, 13, 14 744 | ! 745 | ! adams_view_name='ns3.ctrl_poutput' 746 | POUTPUT/3 747 | , VARIABLES = 15, 16, 17, 18, 19, 20, 21, 8, 9, 10, 11, 12, 13, 14 748 | ! 749 | ! adams_view_name='Controls_Plant_1.ctrl_poutput' 750 | POUTPUT/4 751 | , VARIABLES = 15, 16, 17, 18, 19, 20, 21, 8, 9, 10, 11, 12, 13, 14 752 | ! 753 | !------------------------- GRAVITATIONAL ACCELERATION -------------------------- 754 | ! 755 | ACCGRAV/ 756 | ! 757 | !----------------------------- ANALYSIS SETTINGS ------------------------------- 758 | ! 759 | OUTPUT/ 760 | , REQSAVE 761 | , GRSAVE 762 | ! 763 | RESULTS/ 764 | , XRF 765 | ! 766 | END 767 | -------------------------------------------------------------------------------- /Controls_Plant_1.cmd: -------------------------------------------------------------------------------- 1 | ! 2 | !-------------------------- Default Units for Model ---------------------------! 3 | ! 4 | ! 5 | defaults units & 6 | length = meter & 7 | angle = deg & 8 | force = newton & 9 | mass = kg & 10 | time = sec 11 | ! 12 | defaults units & 13 | coordinate_system_type = cartesian & 14 | orientation_type = body313 15 | ! 16 | !------------------------ Default Attributes for Model ------------------------! 17 | ! 18 | ! 19 | defaults attributes & 20 | inheritance = bottom_up & 21 | icon_visibility = on & 22 | grid_visibility = off & 23 | size_of_icons = 5.0E-02 & 24 | spacing_for_grid = 1.0 25 | ! 26 | !--------------------------- Plugins used by Model ----------------------------! 27 | ! 28 | ! 29 | plugin load & 30 | plugin_name = .MDI.plugins.controls 31 | ! 32 | !------------------------------ Adams View Model ------------------------------! 33 | ! 34 | ! 35 | model create & 36 | model_name = MODEL_1 37 | ! 38 | view erase 39 | ! 40 | !-------------------------------- Data storage --------------------------------! 41 | ! 42 | ! 43 | data_element create variable & 44 | variable_name = .MODEL_1.torque1 & 45 | adams_id = 1 & 46 | initial_condition = 0.0 & 47 | function = "" 48 | ! 49 | data_element create variable & 50 | variable_name = .MODEL_1.torque2 & 51 | adams_id = 2 & 52 | initial_condition = 0.0 & 53 | function = "" 54 | ! 55 | data_element create variable & 56 | variable_name = .MODEL_1.torque3 & 57 | adams_id = 3 & 58 | initial_condition = 0.0 & 59 | function = "" 60 | ! 61 | data_element create variable & 62 | variable_name = .MODEL_1.torque4 & 63 | adams_id = 4 & 64 | initial_condition = 0.0 & 65 | function = "" 66 | ! 67 | data_element create variable & 68 | variable_name = .MODEL_1.torque5 & 69 | adams_id = 5 & 70 | initial_condition = 0.0 & 71 | function = "" 72 | ! 73 | data_element create variable & 74 | variable_name = .MODEL_1.torque6 & 75 | adams_id = 6 & 76 | initial_condition = 0.0 & 77 | function = "" 78 | ! 79 | data_element create variable & 80 | variable_name = .MODEL_1.torque7 & 81 | adams_id = 7 & 82 | initial_condition = 0.0 & 83 | function = "" 84 | ! 85 | data_element create variable & 86 | variable_name = .MODEL_1.v1 & 87 | adams_id = 8 & 88 | initial_condition = 0.0 & 89 | function = "" 90 | ! 91 | data_element create variable & 92 | variable_name = .MODEL_1.v2 & 93 | adams_id = 9 & 94 | initial_condition = 0.0 & 95 | function = "" 96 | ! 97 | data_element create variable & 98 | variable_name = .MODEL_1.v3 & 99 | adams_id = 10 & 100 | initial_condition = 0.0 & 101 | function = "" 102 | ! 103 | data_element create variable & 104 | variable_name = .MODEL_1.v4 & 105 | adams_id = 11 & 106 | initial_condition = 0.0 & 107 | function = "" 108 | ! 109 | data_element create variable & 110 | variable_name = .MODEL_1.v5 & 111 | adams_id = 12 & 112 | initial_condition = 0.0 & 113 | function = "" 114 | ! 115 | data_element create variable & 116 | variable_name = .MODEL_1.v6 & 117 | adams_id = 13 & 118 | initial_condition = 0.0 & 119 | function = "" 120 | ! 121 | data_element create variable & 122 | variable_name = .MODEL_1.v7 & 123 | adams_id = 14 & 124 | initial_condition = 0.0 & 125 | function = "" 126 | ! 127 | data_element create variable & 128 | variable_name = .MODEL_1.qm1 & 129 | adams_id = 15 & 130 | initial_condition = 0.0 & 131 | function = "" 132 | ! 133 | data_element create variable & 134 | variable_name = .MODEL_1.qm2 & 135 | adams_id = 16 & 136 | initial_condition = 0.0 & 137 | function = "" 138 | ! 139 | data_element create variable & 140 | variable_name = .MODEL_1.qm3 & 141 | adams_id = 17 & 142 | initial_condition = 0.0 & 143 | function = "" 144 | ! 145 | data_element create variable & 146 | variable_name = .MODEL_1.qm4 & 147 | adams_id = 18 & 148 | initial_condition = 0.0 & 149 | function = "" 150 | ! 151 | data_element create variable & 152 | variable_name = .MODEL_1.qm5 & 153 | adams_id = 19 & 154 | initial_condition = 0.0 & 155 | function = "" 156 | ! 157 | data_element create variable & 158 | variable_name = .MODEL_1.qm6 & 159 | adams_id = 20 & 160 | initial_condition = 0.0 & 161 | function = "" 162 | ! 163 | data_element create variable & 164 | variable_name = .MODEL_1.qm7 & 165 | adams_id = 21 & 166 | initial_condition = 0.0 & 167 | function = "" 168 | ! 169 | !--------------------------------- Materials ----------------------------------! 170 | ! 171 | ! 172 | material create & 173 | material_name = .MODEL_1.steel & 174 | adams_id = 1 & 175 | density = 7801.0 & 176 | youngs_modulus = 2.07E+11 & 177 | poissons_ratio = 0.29 178 | ! 179 | !-------------------------------- Rigid Parts ---------------------------------! 180 | ! 181 | ! Create parts and their dependent markers and graphics 182 | ! 183 | !----------------------------------- ground -----------------------------------! 184 | ! 185 | ! 186 | ! ****** Ground Part ****** 187 | ! 188 | defaults model & 189 | part_name = ground 190 | ! 191 | defaults coordinate_system & 192 | default_coordinate_system = .MODEL_1.ground 193 | ! 194 | ! ****** Markers for current part ****** 195 | ! 196 | marker create & 197 | marker_name = .MODEL_1.ground.q0 & 198 | adams_id = 22 & 199 | location = 0.0, 0.28, 0.0 & 200 | orientation = 180.0d, 90.0d, 90.0d 201 | ! 202 | marker attributes & 203 | marker_name = .MODEL_1.ground.q0 & 204 | size_of_icons = 0.1 205 | ! 206 | marker create & 207 | marker_name = .MODEL_1.ground.MARKER_43 & 208 | adams_id = 43 & 209 | location = 0.0, 0.28, 0.0 & 210 | orientation = 180.0d, 90.0d, 180.0d 211 | ! 212 | marker attributes & 213 | marker_name = .MODEL_1.ground.MARKER_43 & 214 | size_of_icons = 0.1 215 | ! 216 | part create rigid_body mass_properties & 217 | part_name = .MODEL_1.ground & 218 | material_type = .MODEL_1.steel 219 | ! 220 | part attributes & 221 | part_name = .MODEL_1.ground & 222 | name_visibility = off 223 | ! 224 | !----------------------------------- PART_1 -----------------------------------! 225 | ! 226 | ! 227 | defaults coordinate_system & 228 | default_coordinate_system = .MODEL_1.ground 229 | ! 230 | part create rigid_body name_and_position & 231 | part_name = .MODEL_1.PART_1 & 232 | adams_id = 3 & 233 | location = 0.0, 0.0, 0.0 & 234 | orientation = 0.0d, 0.0d, 0.0d 235 | ! 236 | defaults coordinate_system & 237 | default_coordinate_system = .MODEL_1.PART_1 238 | ! 239 | ! ****** Markers for current part ****** 240 | ! 241 | marker create & 242 | marker_name = .MODEL_1.PART_1.MARKER_1 & 243 | adams_id = 1 & 244 | location = 0.0, 0.0, 0.0 & 245 | orientation = 270.0d, 90.0d, 180.0d 246 | ! 247 | marker attributes & 248 | marker_name = .MODEL_1.PART_1.MARKER_1 & 249 | size_of_icons = 0.1 250 | ! 251 | marker create & 252 | marker_name = .MODEL_1.PART_1.MARKER_2 & 253 | adams_id = 2 & 254 | location = 0.0, 0.28, 0.0 & 255 | orientation = 270.0d, 90.0d, 180.0d 256 | ! 257 | marker attributes & 258 | marker_name = .MODEL_1.PART_1.MARKER_2 & 259 | size_of_icons = 0.1 260 | ! 261 | marker create & 262 | marker_name = .MODEL_1.PART_1.q11 & 263 | adams_id = 21 & 264 | location = 0.0, 0.28, 0.0 & 265 | orientation = 180.0d, 90.0d, 90.0d 266 | ! 267 | marker attributes & 268 | marker_name = .MODEL_1.PART_1.q11 & 269 | size_of_icons = 0.1 270 | ! 271 | marker create & 272 | marker_name = .MODEL_1.PART_1.MARKER_3 & 273 | adams_id = 3 & 274 | location = 0.0, 0.28, 0.0 & 275 | orientation = 270.0d, 90.0d, 270.0d 276 | ! 277 | marker attributes & 278 | marker_name = .MODEL_1.PART_1.MARKER_3 & 279 | size_of_icons = 0.1 280 | ! 281 | marker create & 282 | marker_name = .MODEL_1.PART_1.MARKER_4 & 283 | adams_id = 4 & 284 | location = 0.0, 0.28, -0.31 & 285 | orientation = 270.0d, 90.0d, 270.0d 286 | ! 287 | marker attributes & 288 | marker_name = .MODEL_1.PART_1.MARKER_4 & 289 | size_of_icons = 0.1 290 | ! 291 | marker create & 292 | marker_name = .MODEL_1.PART_1.cm & 293 | adams_id = 35 & 294 | location = 0.0, 0.2799999533, -0.1549999483 & 295 | orientation = 0.0d, 0.0d, 0.0d 296 | ! 297 | marker attributes & 298 | marker_name = .MODEL_1.PART_1.cm & 299 | size_of_icons = 0.1 300 | ! 301 | marker create & 302 | marker_name = .MODEL_1.PART_1.q1 & 303 | adams_id = 24 & 304 | location = 0.0, 0.28, -0.31 & 305 | orientation = 90.0d, 180.0d, 0.0d 306 | ! 307 | marker attributes & 308 | marker_name = .MODEL_1.PART_1.q1 & 309 | size_of_icons = 0.1 310 | ! 311 | marker create & 312 | marker_name = .MODEL_1.PART_1.MARKER_42 & 313 | adams_id = 42 & 314 | location = 0.0, 0.28, 0.0 & 315 | orientation = 180.0d, 90.0d, 180.0d 316 | ! 317 | marker attributes & 318 | marker_name = .MODEL_1.PART_1.MARKER_42 & 319 | size_of_icons = 0.1 320 | ! 321 | marker create & 322 | marker_name = .MODEL_1.PART_1.MARKER_53 & 323 | adams_id = 53 & 324 | location = 0.0, 0.28, -0.31 & 325 | orientation = 0.0d, 0.0d, 0.0d 326 | ! 327 | marker attributes & 328 | marker_name = .MODEL_1.PART_1.MARKER_53 & 329 | size_of_icons = 0.1 330 | ! 331 | part create rigid_body mass_properties & 332 | part_name = .MODEL_1.PART_1 & 333 | mass = 30.00001 & 334 | center_of_mass_marker = .MODEL_1.PART_1.cm & 335 | ixx = 0.4000104362 & 336 | iyy = 0.4000102403 & 337 | izz = 4.9010196E-02 & 338 | ixy = 0.0 & 339 | izx = 0.0 & 340 | iyz = 0.0 341 | ! 342 | ! ****** Graphics for current part ****** 343 | ! 344 | geometry create shape link & 345 | link_name = .MODEL_1.PART_1.LINK_2 & 346 | i_marker = .MODEL_1.PART_1.MARKER_3 & 347 | j_marker = .MODEL_1.PART_1.MARKER_4 & 348 | width = 0.1 & 349 | depth = 0.1 350 | ! 351 | geometry create shape link & 352 | link_name = .MODEL_1.PART_1.LINK_1 & 353 | i_marker = .MODEL_1.PART_1.MARKER_1 & 354 | j_marker = .MODEL_1.PART_1.MARKER_2 & 355 | width = 0.1 & 356 | depth = 0.1 357 | ! 358 | part attributes & 359 | part_name = .MODEL_1.PART_1 & 360 | color = CYAN & 361 | name_visibility = off 362 | ! 363 | !----------------------------------- PART_2 -----------------------------------! 364 | ! 365 | ! 366 | defaults coordinate_system & 367 | default_coordinate_system = .MODEL_1.ground 368 | ! 369 | part create rigid_body name_and_position & 370 | part_name = .MODEL_1.PART_2 & 371 | adams_id = 4 & 372 | location = 0.0, 0.0, 0.0 & 373 | orientation = 0.0d, 0.0d, 0.0d 374 | ! 375 | defaults coordinate_system & 376 | default_coordinate_system = .MODEL_1.PART_2 377 | ! 378 | ! ****** Markers for current part ****** 379 | ! 380 | marker create & 381 | marker_name = .MODEL_1.PART_2.MARKER_5 & 382 | adams_id = 5 & 383 | location = 0.0, 0.28, -0.31 & 384 | orientation = 270.0d, 90.0d, 180.0d 385 | ! 386 | marker attributes & 387 | marker_name = .MODEL_1.PART_2.MARKER_5 & 388 | size_of_icons = 0.1 389 | ! 390 | marker create & 391 | marker_name = .MODEL_1.PART_2.MARKER_6 & 392 | adams_id = 6 & 393 | location = 0.0, 0.59, -0.31 & 394 | orientation = 270.0d, 90.0d, 180.0d 395 | ! 396 | marker attributes & 397 | marker_name = .MODEL_1.PART_2.MARKER_6 & 398 | size_of_icons = 0.1 399 | ! 400 | marker create & 401 | marker_name = .MODEL_1.PART_2.cm & 402 | adams_id = 36 & 403 | location = 0.0, 0.435, -0.31 & 404 | orientation = 180.0d, 90.0d, 90.0d 405 | ! 406 | marker attributes & 407 | marker_name = .MODEL_1.PART_2.cm & 408 | size_of_icons = 0.1 409 | ! 410 | marker create & 411 | marker_name = .MODEL_1.PART_2.MARKER_23 & 412 | adams_id = 23 & 413 | location = 0.0, 0.28, -0.31 & 414 | orientation = 90.0d, 180.0d, 0.0d 415 | ! 416 | marker attributes & 417 | marker_name = .MODEL_1.PART_2.MARKER_23 & 418 | size_of_icons = 0.1 419 | ! 420 | marker create & 421 | marker_name = .MODEL_1.PART_2.q2 & 422 | adams_id = 26 & 423 | location = 0.0, 0.59, -0.31 & 424 | orientation = 180.0d, 90.0d, 90.0d 425 | ! 426 | marker attributes & 427 | marker_name = .MODEL_1.PART_2.q2 & 428 | size_of_icons = 0.1 429 | ! 430 | marker create & 431 | marker_name = .MODEL_1.PART_2.MARKER_45 & 432 | adams_id = 45 & 433 | location = 0.0, 0.59, -0.31 & 434 | orientation = 180.0d, 90.0d, 180.0d 435 | ! 436 | marker attributes & 437 | marker_name = .MODEL_1.PART_2.MARKER_45 & 438 | size_of_icons = 0.1 439 | ! 440 | marker create & 441 | marker_name = .MODEL_1.PART_2.MARKER_52 & 442 | adams_id = 52 & 443 | location = 0.0, 0.28, -0.31 & 444 | orientation = 0.0d, 0.0d, 0.0d 445 | ! 446 | marker attributes & 447 | marker_name = .MODEL_1.PART_2.MARKER_52 & 448 | size_of_icons = 0.1 449 | ! 450 | part create rigid_body mass_properties & 451 | part_name = .MODEL_1.PART_2 & 452 | mass = 30.0 & 453 | center_of_mass_marker = .MODEL_1.PART_2.cm & 454 | ixx = 0.4 & 455 | iyy = 0.4 & 456 | izz = 4.9E-02 & 457 | ixy = 0.0 & 458 | izx = 0.0 & 459 | iyz = 0.0 460 | ! 461 | ! ****** Graphics for current part ****** 462 | ! 463 | geometry create shape link & 464 | link_name = .MODEL_1.PART_2.LINK_3 & 465 | i_marker = .MODEL_1.PART_2.MARKER_5 & 466 | j_marker = .MODEL_1.PART_2.MARKER_6 & 467 | width = 0.1 & 468 | depth = 0.1 469 | ! 470 | part attributes & 471 | part_name = .MODEL_1.PART_2 & 472 | color = MAGENTA & 473 | name_visibility = off 474 | ! 475 | !----------------------------------- PART_3 -----------------------------------! 476 | ! 477 | ! 478 | defaults coordinate_system & 479 | default_coordinate_system = .MODEL_1.ground 480 | ! 481 | part create rigid_body name_and_position & 482 | part_name = .MODEL_1.PART_3 & 483 | adams_id = 5 & 484 | location = 0.0, 0.0, 0.0 & 485 | orientation = 0.0d, 0.0d, 0.0d 486 | ! 487 | defaults coordinate_system & 488 | default_coordinate_system = .MODEL_1.PART_3 489 | ! 490 | ! ****** Markers for current part ****** 491 | ! 492 | marker create & 493 | marker_name = .MODEL_1.PART_3.MARKER_7 & 494 | adams_id = 7 & 495 | location = 0.0, 0.59, -0.31 & 496 | orientation = 270.0d, 90.0d, 270.0d 497 | ! 498 | marker attributes & 499 | marker_name = .MODEL_1.PART_3.MARKER_7 & 500 | size_of_icons = 0.1 501 | ! 502 | marker create & 503 | marker_name = .MODEL_1.PART_3.MARKER_8 & 504 | adams_id = 8 & 505 | location = 0.0, 0.59, -2.21 & 506 | orientation = 270.0d, 90.0d, 270.0d 507 | ! 508 | marker attributes & 509 | marker_name = .MODEL_1.PART_3.MARKER_8 & 510 | size_of_icons = 0.1 511 | ! 512 | marker create & 513 | marker_name = .MODEL_1.PART_3.cm & 514 | adams_id = 37 & 515 | location = 0.0, 0.5900000009, -1.2600000062 & 516 | orientation = 0.0d, 0.0d, 0.0d 517 | ! 518 | marker attributes & 519 | marker_name = .MODEL_1.PART_3.cm & 520 | size_of_icons = 0.1 521 | ! 522 | marker create & 523 | marker_name = .MODEL_1.PART_3.MARKER_9 & 524 | adams_id = 9 & 525 | location = 0.0, 0.59, -2.21 & 526 | orientation = 270.0d, 90.0d, 180.0d 527 | ! 528 | marker attributes & 529 | marker_name = .MODEL_1.PART_3.MARKER_9 & 530 | size_of_icons = 0.1 531 | ! 532 | marker create & 533 | marker_name = .MODEL_1.PART_3.MARKER_10 & 534 | adams_id = 10 & 535 | location = 0.0, 0.86, -2.21 & 536 | orientation = 270.0d, 90.0d, 180.0d 537 | ! 538 | marker attributes & 539 | marker_name = .MODEL_1.PART_3.MARKER_10 & 540 | size_of_icons = 0.1 541 | ! 542 | marker create & 543 | marker_name = .MODEL_1.PART_3.MARKER_25 & 544 | adams_id = 25 & 545 | location = 0.0, 0.59, -0.31 & 546 | orientation = 180.0d, 90.0d, 90.0d 547 | ! 548 | marker attributes & 549 | marker_name = .MODEL_1.PART_3.MARKER_25 & 550 | size_of_icons = 0.1 551 | ! 552 | marker create & 553 | marker_name = .MODEL_1.PART_3.MARKER_28 & 554 | adams_id = 28 & 555 | location = 0.0, 0.86, -2.21 & 556 | orientation = 180.0d, 90.0d, 90.0d 557 | ! 558 | marker attributes & 559 | marker_name = .MODEL_1.PART_3.MARKER_28 & 560 | size_of_icons = 0.1 561 | ! 562 | marker create & 563 | marker_name = .MODEL_1.PART_3.q3 & 564 | adams_id = 44 & 565 | location = 0.0, 0.59, -0.31 & 566 | orientation = 180.0d, 90.0d, 180.0d 567 | ! 568 | marker attributes & 569 | marker_name = .MODEL_1.PART_3.q3 & 570 | size_of_icons = 0.1 571 | ! 572 | marker create & 573 | marker_name = .MODEL_1.PART_3.MARKER_47 & 574 | adams_id = 47 & 575 | location = 0.0, 0.86, -2.21 & 576 | orientation = 180.0d, 90.0d, 180.0d 577 | ! 578 | marker attributes & 579 | marker_name = .MODEL_1.PART_3.MARKER_47 & 580 | size_of_icons = 0.1 581 | ! 582 | part create rigid_body mass_properties & 583 | part_name = .MODEL_1.PART_3 & 584 | mass = 154.000001 & 585 | center_of_mass_marker = .MODEL_1.PART_3.cm & 586 | ixx = 50.0000019207 & 587 | iyy = 50.0000019025 & 588 | izz = 0.2500010182 & 589 | ixy = 0.0 & 590 | izx = 0.0 & 591 | iyz = 0.0 592 | ! 593 | ! ****** Graphics for current part ****** 594 | ! 595 | geometry create shape link & 596 | link_name = .MODEL_1.PART_3.LINK_4 & 597 | i_marker = .MODEL_1.PART_3.MARKER_7 & 598 | j_marker = .MODEL_1.PART_3.MARKER_8 & 599 | width = 0.1 & 600 | depth = 0.1 601 | ! 602 | geometry create shape link & 603 | link_name = .MODEL_1.PART_3.LINK_5 & 604 | i_marker = .MODEL_1.PART_3.MARKER_9 & 605 | j_marker = .MODEL_1.PART_3.MARKER_10 & 606 | width = 0.1 & 607 | depth = 0.1 608 | ! 609 | part attributes & 610 | part_name = .MODEL_1.PART_3 & 611 | color = RED & 612 | name_visibility = off 613 | ! 614 | !----------------------------------- PART_4 -----------------------------------! 615 | ! 616 | ! 617 | defaults coordinate_system & 618 | default_coordinate_system = .MODEL_1.ground 619 | ! 620 | part create rigid_body name_and_position & 621 | part_name = .MODEL_1.PART_4 & 622 | adams_id = 7 & 623 | location = 0.0, 0.0, 0.0 & 624 | orientation = 0.0d, 0.0d, 0.0d 625 | ! 626 | defaults coordinate_system & 627 | default_coordinate_system = .MODEL_1.PART_4 628 | ! 629 | ! ****** Markers for current part ****** 630 | ! 631 | marker create & 632 | marker_name = .MODEL_1.PART_4.MARKER_11 & 633 | adams_id = 11 & 634 | location = 0.0, 0.86, -2.21 & 635 | orientation = 270.0d, 90.0d, 270.0d 636 | ! 637 | marker attributes & 638 | marker_name = .MODEL_1.PART_4.MARKER_11 & 639 | size_of_icons = 0.1 640 | ! 641 | marker create & 642 | marker_name = .MODEL_1.PART_4.MARKER_12 & 643 | adams_id = 12 & 644 | location = 0.0, 0.86, -4.11 & 645 | orientation = 270.0d, 90.0d, 270.0d 646 | ! 647 | marker attributes & 648 | marker_name = .MODEL_1.PART_4.MARKER_12 & 649 | size_of_icons = 0.1 650 | ! 651 | marker create & 652 | marker_name = .MODEL_1.PART_4.cm & 653 | adams_id = 38 & 654 | location = 0.0, 0.8600000001, -3.1600000006 & 655 | orientation = 90.0d, 180.0d, 0.0d 656 | ! 657 | marker attributes & 658 | marker_name = .MODEL_1.PART_4.cm & 659 | size_of_icons = 0.1 660 | ! 661 | marker create & 662 | marker_name = .MODEL_1.PART_4.MARKER_13 & 663 | adams_id = 13 & 664 | location = 0.0, 0.86, -4.11 & 665 | orientation = 270.0d, 90.0d, 180.0d 666 | ! 667 | marker attributes & 668 | marker_name = .MODEL_1.PART_4.MARKER_13 & 669 | size_of_icons = 0.1 670 | ! 671 | marker create & 672 | marker_name = .MODEL_1.PART_4.MARKER_14 & 673 | adams_id = 14 & 674 | location = 0.0, 1.13, -4.11 & 675 | orientation = 270.0d, 90.0d, 180.0d 676 | ! 677 | marker attributes & 678 | marker_name = .MODEL_1.PART_4.MARKER_14 & 679 | size_of_icons = 0.1 680 | ! 681 | marker create & 682 | marker_name = .MODEL_1.PART_4.MARKER_27 & 683 | adams_id = 27 & 684 | location = 0.0, 0.86, -2.21 & 685 | orientation = 180.0d, 90.0d, 90.0d 686 | ! 687 | marker attributes & 688 | marker_name = .MODEL_1.PART_4.MARKER_27 & 689 | size_of_icons = 0.1 690 | ! 691 | marker create & 692 | marker_name = .MODEL_1.PART_4.q4 & 693 | adams_id = 30 & 694 | location = 0.0, 1.13, -4.11 & 695 | orientation = 180.0d, 90.0d, 90.0d 696 | ! 697 | marker attributes & 698 | marker_name = .MODEL_1.PART_4.q4 & 699 | size_of_icons = 0.1 700 | ! 701 | marker create & 702 | marker_name = .MODEL_1.PART_4.MARKER_46 & 703 | adams_id = 46 & 704 | location = 0.0, 0.86, -2.21 & 705 | orientation = 180.0d, 90.0d, 180.0d 706 | ! 707 | marker attributes & 708 | marker_name = .MODEL_1.PART_4.MARKER_46 & 709 | size_of_icons = 0.1 710 | ! 711 | marker create & 712 | marker_name = .MODEL_1.PART_4.MARKER_49 & 713 | adams_id = 49 & 714 | location = 0.0, 1.13, -4.11 & 715 | orientation = 180.0d, 90.0d, 180.0d 716 | ! 717 | marker attributes & 718 | marker_name = .MODEL_1.PART_4.MARKER_49 & 719 | size_of_icons = 0.1 720 | ! 721 | part create rigid_body mass_properties & 722 | part_name = .MODEL_1.PART_4 & 723 | mass = 154.0000001 & 724 | center_of_mass_marker = .MODEL_1.PART_4.cm & 725 | ixx = 50.0000001003 & 726 | iyy = 50.0000000931 & 727 | izz = 0.2500001018 & 728 | ixy = 0.0 & 729 | izx = 0.0 & 730 | iyz = 0.0 731 | ! 732 | ! ****** Graphics for current part ****** 733 | ! 734 | geometry create shape link & 735 | link_name = .MODEL_1.PART_4.LINK_6 & 736 | i_marker = .MODEL_1.PART_4.MARKER_11 & 737 | j_marker = .MODEL_1.PART_4.MARKER_12 & 738 | width = 0.1 & 739 | depth = 0.1 740 | ! 741 | geometry create shape link & 742 | link_name = .MODEL_1.PART_4.LINK_7 & 743 | i_marker = .MODEL_1.PART_4.MARKER_13 & 744 | j_marker = .MODEL_1.PART_4.MARKER_14 & 745 | width = 0.1 & 746 | depth = 0.1 747 | ! 748 | part attributes & 749 | part_name = .MODEL_1.PART_4 & 750 | color = CYAN & 751 | name_visibility = off 752 | ! 753 | !----------------------------------- PART_5 -----------------------------------! 754 | ! 755 | ! 756 | defaults coordinate_system & 757 | default_coordinate_system = .MODEL_1.ground 758 | ! 759 | part create rigid_body name_and_position & 760 | part_name = .MODEL_1.PART_5 & 761 | adams_id = 9 & 762 | location = 0.0, 0.0, 0.0 & 763 | orientation = 0.0d, 0.0d, 0.0d 764 | ! 765 | defaults coordinate_system & 766 | default_coordinate_system = .MODEL_1.PART_5 767 | ! 768 | ! ****** Markers for current part ****** 769 | ! 770 | marker create & 771 | marker_name = .MODEL_1.PART_5.MARKER_15 & 772 | adams_id = 15 & 773 | location = 0.0, 1.13, -4.11 & 774 | orientation = 270.0d, 90.0d, 270.0d 775 | ! 776 | marker attributes & 777 | marker_name = .MODEL_1.PART_5.MARKER_15 & 778 | size_of_icons = 0.1 779 | ! 780 | marker create & 781 | marker_name = .MODEL_1.PART_5.MARKER_16 & 782 | adams_id = 16 & 783 | location = 0.0, 1.13, -4.42 & 784 | orientation = 270.0d, 90.0d, 270.0d 785 | ! 786 | marker attributes & 787 | marker_name = .MODEL_1.PART_5.MARKER_16 & 788 | size_of_icons = 0.1 789 | ! 790 | marker create & 791 | marker_name = .MODEL_1.PART_5.cm & 792 | adams_id = 39 & 793 | location = 0.0, 1.13, -4.265 & 794 | orientation = 90.0d, 180.0d, 0.0d 795 | ! 796 | marker attributes & 797 | marker_name = .MODEL_1.PART_5.cm & 798 | size_of_icons = 0.1 799 | ! 800 | marker create & 801 | marker_name = .MODEL_1.PART_5.MARKER_29 & 802 | adams_id = 29 & 803 | location = 0.0, 1.13, -4.11 & 804 | orientation = 180.0d, 90.0d, 90.0d 805 | ! 806 | marker attributes & 807 | marker_name = .MODEL_1.PART_5.MARKER_29 & 808 | size_of_icons = 0.1 809 | ! 810 | marker create & 811 | marker_name = .MODEL_1.PART_5.q5 & 812 | adams_id = 32 & 813 | location = 0.0, 1.13, -4.42 & 814 | orientation = 90.0d, 180.0d, 0.0d 815 | ! 816 | marker attributes & 817 | marker_name = .MODEL_1.PART_5.q5 & 818 | size_of_icons = 0.1 819 | ! 820 | marker create & 821 | marker_name = .MODEL_1.PART_5.MARKER_48 & 822 | adams_id = 48 & 823 | location = 0.0, 1.13, -4.11 & 824 | orientation = 180.0d, 90.0d, 180.0d 825 | ! 826 | marker attributes & 827 | marker_name = .MODEL_1.PART_5.MARKER_48 & 828 | size_of_icons = 0.1 829 | ! 830 | marker create & 831 | marker_name = .MODEL_1.PART_5.MARKER_55 & 832 | adams_id = 55 & 833 | location = 0.0, 1.13, -4.42 & 834 | orientation = 0.0d, 0.0d, 0.0d 835 | ! 836 | marker attributes & 837 | marker_name = .MODEL_1.PART_5.MARKER_55 & 838 | size_of_icons = 0.1 839 | ! 840 | part create rigid_body mass_properties & 841 | part_name = .MODEL_1.PART_5 & 842 | mass = 30.0 & 843 | center_of_mass_marker = .MODEL_1.PART_5.cm & 844 | ixx = 0.4 & 845 | iyy = 0.4 & 846 | izz = 4.9E-02 & 847 | ixy = 0.0 & 848 | izx = 0.0 & 849 | iyz = 0.0 850 | ! 851 | ! ****** Graphics for current part ****** 852 | ! 853 | geometry create shape link & 854 | link_name = .MODEL_1.PART_5.LINK_8 & 855 | i_marker = .MODEL_1.PART_5.MARKER_15 & 856 | j_marker = .MODEL_1.PART_5.MARKER_16 & 857 | width = 0.1 & 858 | depth = 0.1 859 | ! 860 | part attributes & 861 | part_name = .MODEL_1.PART_5 & 862 | color = RED & 863 | name_visibility = off 864 | ! 865 | !----------------------------------- PART_6 -----------------------------------! 866 | ! 867 | ! 868 | defaults coordinate_system & 869 | default_coordinate_system = .MODEL_1.ground 870 | ! 871 | part create rigid_body name_and_position & 872 | part_name = .MODEL_1.PART_6 & 873 | adams_id = 10 & 874 | location = 0.0, 0.0, 0.0 & 875 | orientation = 0.0d, 0.0d, 0.0d 876 | ! 877 | defaults coordinate_system & 878 | default_coordinate_system = .MODEL_1.PART_6 879 | ! 880 | ! ****** Markers for current part ****** 881 | ! 882 | marker create & 883 | marker_name = .MODEL_1.PART_6.MARKER_17 & 884 | adams_id = 17 & 885 | location = 0.0, 1.13, -4.42 & 886 | orientation = 270.0d, 90.0d, 180.0d 887 | ! 888 | marker attributes & 889 | marker_name = .MODEL_1.PART_6.MARKER_17 & 890 | size_of_icons = 0.1 891 | ! 892 | marker create & 893 | marker_name = .MODEL_1.PART_6.MARKER_18 & 894 | adams_id = 18 & 895 | location = 0.0, 1.78, -4.42 & 896 | orientation = 270.0d, 90.0d, 180.0d 897 | ! 898 | marker attributes & 899 | marker_name = .MODEL_1.PART_6.MARKER_18 & 900 | size_of_icons = 0.1 901 | ! 902 | marker create & 903 | marker_name = .MODEL_1.PART_6.cm & 904 | adams_id = 40 & 905 | location = 0.0, 1.455, -4.42 & 906 | orientation = 180.0d, 90.0d, 90.0d 907 | ! 908 | marker attributes & 909 | marker_name = .MODEL_1.PART_6.cm & 910 | size_of_icons = 0.1 911 | ! 912 | marker create & 913 | marker_name = .MODEL_1.PART_6.MARKER_31 & 914 | adams_id = 31 & 915 | location = 0.0, 1.13, -4.42 & 916 | orientation = 90.0d, 180.0d, 0.0d 917 | ! 918 | marker attributes & 919 | marker_name = .MODEL_1.PART_6.MARKER_31 & 920 | size_of_icons = 0.1 921 | ! 922 | marker create & 923 | marker_name = .MODEL_1.PART_6.q6 & 924 | adams_id = 34 & 925 | location = 0.0, 1.78, -4.42 & 926 | orientation = 180.0d, 90.0d, 90.0d 927 | ! 928 | marker attributes & 929 | marker_name = .MODEL_1.PART_6.q6 & 930 | size_of_icons = 0.1 931 | ! 932 | marker create & 933 | marker_name = .MODEL_1.PART_6.MARKER_51 & 934 | adams_id = 51 & 935 | location = 0.0, 1.78, -4.42 & 936 | orientation = 180.0d, 90.0d, 180.0d 937 | ! 938 | marker attributes & 939 | marker_name = .MODEL_1.PART_6.MARKER_51 & 940 | size_of_icons = 0.1 941 | ! 942 | marker create & 943 | marker_name = .MODEL_1.PART_6.MARKER_54 & 944 | adams_id = 54 & 945 | location = 0.0, 1.13, -4.42 & 946 | orientation = 0.0d, 0.0d, 0.0d 947 | ! 948 | marker attributes & 949 | marker_name = .MODEL_1.PART_6.MARKER_54 & 950 | size_of_icons = 0.1 951 | ! 952 | part create rigid_body mass_properties & 953 | part_name = .MODEL_1.PART_6 & 954 | mass = 56.0 & 955 | center_of_mass_marker = .MODEL_1.PART_6.cm & 956 | ixx = 2.5 & 957 | iyy = 2.5 & 958 | izz = 9.3E-02 & 959 | ixy = 0.0 & 960 | izx = 0.0 & 961 | iyz = 0.0 962 | ! 963 | ! ****** Graphics for current part ****** 964 | ! 965 | geometry create shape link & 966 | link_name = .MODEL_1.PART_6.LINK_9 & 967 | i_marker = .MODEL_1.PART_6.MARKER_17 & 968 | j_marker = .MODEL_1.PART_6.MARKER_18 & 969 | width = 0.1 & 970 | depth = 0.1 971 | ! 972 | part attributes & 973 | part_name = .MODEL_1.PART_6 & 974 | color = GREEN & 975 | name_visibility = off 976 | ! 977 | !----------------------------------- PART_7 -----------------------------------! 978 | ! 979 | ! 980 | defaults coordinate_system & 981 | default_coordinate_system = .MODEL_1.ground 982 | ! 983 | part create rigid_body name_and_position & 984 | part_name = .MODEL_1.PART_7 & 985 | adams_id = 11 & 986 | location = 0.0, 0.0, 0.0 & 987 | orientation = 0.0d, 0.0d, 0.0d 988 | ! 989 | defaults coordinate_system & 990 | default_coordinate_system = .MODEL_1.PART_7 991 | ! 992 | ! ****** Markers for current part ****** 993 | ! 994 | marker create & 995 | marker_name = .MODEL_1.PART_7.MARKER_19 & 996 | adams_id = 19 & 997 | location = 0.0, 1.78, -4.42 & 998 | orientation = 270.0d, 90.0d, 180.0d 999 | ! 1000 | marker attributes & 1001 | marker_name = .MODEL_1.PART_7.MARKER_19 & 1002 | size_of_icons = 0.1 1003 | ! 1004 | marker create & 1005 | marker_name = .MODEL_1.PART_7.MARKER_20 & 1006 | adams_id = 20 & 1007 | location = 0.0, 2.08, -4.42 & 1008 | orientation = 270.0d, 90.0d, 180.0d 1009 | ! 1010 | marker attributes & 1011 | marker_name = .MODEL_1.PART_7.MARKER_20 & 1012 | size_of_icons = 0.1 1013 | ! 1014 | marker create & 1015 | marker_name = .MODEL_1.PART_7.cm & 1016 | adams_id = 41 & 1017 | location = 0.0, 1.93, -4.42 & 1018 | orientation = 180.0d, 90.0d, 90.0d 1019 | ! 1020 | marker attributes & 1021 | marker_name = .MODEL_1.PART_7.cm & 1022 | size_of_icons = 0.1 1023 | ! 1024 | marker create & 1025 | marker_name = .MODEL_1.PART_7.q7 & 1026 | adams_id = 33 & 1027 | location = 0.0, 1.78, -4.42 & 1028 | orientation = 180.0d, 90.0d, 90.0d 1029 | ! 1030 | marker attributes & 1031 | marker_name = .MODEL_1.PART_7.q7 & 1032 | size_of_icons = 0.1 1033 | ! 1034 | marker create & 1035 | marker_name = .MODEL_1.PART_7.MARKER_50 & 1036 | adams_id = 50 & 1037 | location = 0.0, 1.78, -4.42 & 1038 | orientation = 180.0d, 90.0d, 180.0d 1039 | ! 1040 | marker attributes & 1041 | marker_name = .MODEL_1.PART_7.MARKER_50 & 1042 | size_of_icons = 0.1 1043 | ! 1044 | part create rigid_body mass_properties & 1045 | part_name = .MODEL_1.PART_7 & 1046 | mass = 29.0 & 1047 | center_of_mass_marker = .MODEL_1.PART_7.cm & 1048 | ixx = 0.37 & 1049 | iyy = 0.37 & 1050 | izz = 4.7E-02 & 1051 | ixy = 0.0 & 1052 | izx = 0.0 & 1053 | iyz = 0.0 1054 | ! 1055 | ! ****** Graphics for current part ****** 1056 | ! 1057 | geometry create shape link & 1058 | link_name = .MODEL_1.PART_7.LINK_10 & 1059 | i_marker = .MODEL_1.PART_7.MARKER_19 & 1060 | j_marker = .MODEL_1.PART_7.MARKER_20 & 1061 | width = 0.1 & 1062 | depth = 0.1 1063 | ! 1064 | part attributes & 1065 | part_name = .MODEL_1.PART_7 & 1066 | color = MAIZE & 1067 | name_visibility = off 1068 | ! 1069 | !----------------------------------- Joints -----------------------------------! 1070 | ! 1071 | ! 1072 | constraint create joint revolute & 1073 | joint_name = .MODEL_1.JOINT_1 & 1074 | adams_id = 1 & 1075 | i_marker_name = .MODEL_1.PART_1.q11 & 1076 | j_marker_name = .MODEL_1.ground.q0 1077 | ! 1078 | constraint attributes & 1079 | constraint_name = .MODEL_1.JOINT_1 & 1080 | name_visibility = off & 1081 | size_of_icons = 5.0E-02 1082 | ! 1083 | constraint create joint revolute & 1084 | joint_name = .MODEL_1.JOINT_2 & 1085 | adams_id = 2 & 1086 | i_marker_name = .MODEL_1.PART_2.MARKER_23 & 1087 | j_marker_name = .MODEL_1.PART_1.q1 1088 | ! 1089 | constraint attributes & 1090 | constraint_name = .MODEL_1.JOINT_2 & 1091 | name_visibility = off & 1092 | size_of_icons = 5.0E-02 1093 | ! 1094 | constraint create joint revolute & 1095 | joint_name = .MODEL_1.JOINT_3 & 1096 | adams_id = 3 & 1097 | i_marker_name = .MODEL_1.PART_3.MARKER_25 & 1098 | j_marker_name = .MODEL_1.PART_2.q2 1099 | ! 1100 | constraint attributes & 1101 | constraint_name = .MODEL_1.JOINT_3 & 1102 | name_visibility = off & 1103 | size_of_icons = 5.0E-02 1104 | ! 1105 | constraint create joint revolute & 1106 | joint_name = .MODEL_1.JOINT_4 & 1107 | adams_id = 4 & 1108 | i_marker_name = .MODEL_1.PART_4.MARKER_27 & 1109 | j_marker_name = .MODEL_1.PART_3.MARKER_28 1110 | ! 1111 | constraint attributes & 1112 | constraint_name = .MODEL_1.JOINT_4 & 1113 | name_visibility = off & 1114 | size_of_icons = 5.0E-02 1115 | ! 1116 | constraint create joint revolute & 1117 | joint_name = .MODEL_1.JOINT_5 & 1118 | adams_id = 5 & 1119 | i_marker_name = .MODEL_1.PART_5.MARKER_29 & 1120 | j_marker_name = .MODEL_1.PART_4.q4 1121 | ! 1122 | constraint attributes & 1123 | constraint_name = .MODEL_1.JOINT_5 & 1124 | name_visibility = off & 1125 | size_of_icons = 5.0E-02 1126 | ! 1127 | constraint create joint revolute & 1128 | joint_name = .MODEL_1.JOINT_6 & 1129 | adams_id = 6 & 1130 | i_marker_name = .MODEL_1.PART_6.MARKER_31 & 1131 | j_marker_name = .MODEL_1.PART_5.q5 1132 | ! 1133 | constraint attributes & 1134 | constraint_name = .MODEL_1.JOINT_6 & 1135 | name_visibility = off & 1136 | size_of_icons = 5.0E-02 1137 | ! 1138 | constraint create joint revolute & 1139 | joint_name = .MODEL_1.JOINT_7 & 1140 | adams_id = 7 & 1141 | i_marker_name = .MODEL_1.PART_7.q7 & 1142 | j_marker_name = .MODEL_1.PART_6.q6 1143 | ! 1144 | constraint attributes & 1145 | constraint_name = .MODEL_1.JOINT_7 & 1146 | name_visibility = off & 1147 | size_of_icons = 5.0E-02 1148 | ! 1149 | !----------------------------------- Forces -----------------------------------! 1150 | ! 1151 | ! 1152 | force create direct single_component_force & 1153 | single_component_force_name = .MODEL_1.SFORCE_1 & 1154 | adams_id = 1 & 1155 | type_of_freedom = rotational & 1156 | i_marker_name = .MODEL_1.PART_1.MARKER_42 & 1157 | j_marker_name = .MODEL_1.ground.MARKER_43 & 1158 | action_only = off & 1159 | function = "" 1160 | ! 1161 | force attributes & 1162 | force_name = .MODEL_1.SFORCE_1 & 1163 | size_of_icons = 0.1 1164 | ! 1165 | force create direct single_component_force & 1166 | single_component_force_name = .MODEL_1.SFORCE_3 & 1167 | adams_id = 2 & 1168 | type_of_freedom = rotational & 1169 | i_marker_name = .MODEL_1.PART_3.q3 & 1170 | j_marker_name = .MODEL_1.PART_2.MARKER_45 & 1171 | action_only = off & 1172 | function = "" 1173 | ! 1174 | force attributes & 1175 | force_name = .MODEL_1.SFORCE_3 & 1176 | size_of_icons = 0.1 1177 | ! 1178 | force create direct single_component_force & 1179 | single_component_force_name = .MODEL_1.SFORCE_4 & 1180 | adams_id = 3 & 1181 | type_of_freedom = rotational & 1182 | i_marker_name = .MODEL_1.PART_4.MARKER_46 & 1183 | j_marker_name = .MODEL_1.PART_3.MARKER_47 & 1184 | action_only = off & 1185 | function = "" 1186 | ! 1187 | force attributes & 1188 | force_name = .MODEL_1.SFORCE_4 & 1189 | size_of_icons = 0.1 1190 | ! 1191 | force create direct single_component_force & 1192 | single_component_force_name = .MODEL_1.SFORCE_5 & 1193 | adams_id = 4 & 1194 | type_of_freedom = rotational & 1195 | i_marker_name = .MODEL_1.PART_5.MARKER_48 & 1196 | j_marker_name = .MODEL_1.PART_4.MARKER_49 & 1197 | action_only = off & 1198 | function = "" 1199 | ! 1200 | force attributes & 1201 | force_name = .MODEL_1.SFORCE_5 & 1202 | size_of_icons = 0.1 1203 | ! 1204 | force create direct single_component_force & 1205 | single_component_force_name = .MODEL_1.SFORCE_7 & 1206 | adams_id = 5 & 1207 | type_of_freedom = rotational & 1208 | i_marker_name = .MODEL_1.PART_7.MARKER_50 & 1209 | j_marker_name = .MODEL_1.PART_6.MARKER_51 & 1210 | action_only = off & 1211 | function = "" 1212 | ! 1213 | force attributes & 1214 | force_name = .MODEL_1.SFORCE_7 & 1215 | size_of_icons = 0.1 1216 | ! 1217 | force create direct single_component_force & 1218 | single_component_force_name = .MODEL_1.SFORCE_2 & 1219 | adams_id = 6 & 1220 | type_of_freedom = rotational & 1221 | i_marker_name = .MODEL_1.PART_2.MARKER_52 & 1222 | j_marker_name = .MODEL_1.PART_1.MARKER_53 & 1223 | action_only = off & 1224 | function = "" 1225 | ! 1226 | force attributes & 1227 | force_name = .MODEL_1.SFORCE_2 & 1228 | size_of_icons = 0.1 1229 | ! 1230 | force create direct single_component_force & 1231 | single_component_force_name = .MODEL_1.SFORCE_6 & 1232 | adams_id = 7 & 1233 | type_of_freedom = rotational & 1234 | i_marker_name = .MODEL_1.PART_6.MARKER_54 & 1235 | j_marker_name = .MODEL_1.PART_5.MARKER_55 & 1236 | action_only = off & 1237 | function = "" 1238 | ! 1239 | force attributes & 1240 | force_name = .MODEL_1.SFORCE_6 & 1241 | size_of_icons = 0.1 1242 | ! 1243 | !----------------------------- Simulation Scripts -----------------------------! 1244 | ! 1245 | ! 1246 | simulation script create & 1247 | sim_script_name = .MODEL_1.Last_Sim & 1248 | commands = & 1249 | "simulation single_run transient type=auto_select initial_static=no end_time=0.4 number_of_steps=50 model_name=.MODEL_1" 1250 | ! 1251 | !-------------------------- Adams View UDE Instances --------------------------! 1252 | ! 1253 | ! 1254 | defaults coordinate_system & 1255 | default_coordinate_system = .MODEL_1.ground 1256 | ! 1257 | undo begin_block suppress = yes 1258 | ! 1259 | ude create instance & 1260 | instance_name = .MODEL_1.ns & 1261 | definition_name = .controls.controls_plant & 1262 | location = 0.0, 0.0, 0.0 & 1263 | orientation = 0.0, 0.0, 0.0 1264 | ! 1265 | ude create instance & 1266 | instance_name = .MODEL_1.ns2 & 1267 | definition_name = .controls.controls_plant & 1268 | location = 0.0, 0.0, 0.0 & 1269 | orientation = 0.0, 0.0, 0.0 1270 | ! 1271 | ude create instance & 1272 | instance_name = .MODEL_1.ns3 & 1273 | definition_name = .controls.controls_plant & 1274 | location = 0.0, 0.0, 0.0 & 1275 | orientation = 0.0, 0.0, 0.0 1276 | ! 1277 | ude create instance & 1278 | instance_name = .MODEL_1.Controls_Plant_1 & 1279 | definition_name = .controls.controls_plant & 1280 | location = 0.0, 0.0, 0.0 & 1281 | orientation = 0.0, 0.0, 0.0 1282 | ! 1283 | !-------------------------- Adams View UDE Instance ---------------------------! 1284 | ! 1285 | ! 1286 | variable modify & 1287 | variable_name = .MODEL_1.ns.input_channels & 1288 | object_value = & 1289 | .MODEL_1.torque1, & 1290 | .MODEL_1.torque2, & 1291 | .MODEL_1.torque3, & 1292 | .MODEL_1.torque4, & 1293 | .MODEL_1.torque5, & 1294 | .MODEL_1.torque6, & 1295 | .MODEL_1.torque7 1296 | ! 1297 | variable modify & 1298 | variable_name = .MODEL_1.ns.output_channels & 1299 | object_value = & 1300 | .MODEL_1.qm1, & 1301 | .MODEL_1.qm2, & 1302 | .MODEL_1.qm3, & 1303 | .MODEL_1.qm4, & 1304 | .MODEL_1.qm5, & 1305 | .MODEL_1.qm6, & 1306 | .MODEL_1.qm7, & 1307 | .MODEL_1.v1, & 1308 | .MODEL_1.v2, & 1309 | .MODEL_1.v3, & 1310 | .MODEL_1.v4, & 1311 | .MODEL_1.v5, & 1312 | .MODEL_1.v6, & 1313 | .MODEL_1.v7 1314 | ! 1315 | variable modify & 1316 | variable_name = .MODEL_1.ns.file_name & 1317 | string_value = "ns" 1318 | ! 1319 | variable modify & 1320 | variable_name = .MODEL_1.ns.event_name & 1321 | string_value = "" 1322 | ! 1323 | variable modify & 1324 | variable_name = .MODEL_1.ns.solver_type & 1325 | string_value = "cplusplus" 1326 | ! 1327 | variable modify & 1328 | variable_name = .MODEL_1.ns.target & 1329 | string_value = "MATLAB" 1330 | ! 1331 | variable modify & 1332 | variable_name = .MODEL_1.ns.FMI_Master & 1333 | string_value = "none" 1334 | ! 1335 | variable modify & 1336 | variable_name = .MODEL_1.ns.analysis_type & 1337 | string_value = "non_linear" 1338 | ! 1339 | variable modify & 1340 | variable_name = .MODEL_1.ns.analysis_init & 1341 | string_value = "no" 1342 | ! 1343 | variable modify & 1344 | variable_name = .MODEL_1.ns.analysis_init_str & 1345 | string_value = "" 1346 | ! 1347 | variable modify & 1348 | variable_name = .MODEL_1.ns.user_lib & 1349 | string_value = "" 1350 | ! 1351 | variable modify & 1352 | variable_name = .MODEL_1.ns.host & 1353 | string_value = "LAPTOP-5088IVHI" 1354 | ! 1355 | variable modify & 1356 | variable_name = .MODEL_1.ns.dynamic_state & 1357 | string_value = "on" 1358 | ! 1359 | variable modify & 1360 | variable_name = .MODEL_1.ns.tcp_ip & 1361 | string_value = "off" 1362 | ! 1363 | variable modify & 1364 | variable_name = .MODEL_1.ns.output_rate & 1365 | integer_value = 1 1366 | ! 1367 | variable modify & 1368 | variable_name = .MODEL_1.ns.realtime & 1369 | string_value = "off" 1370 | ! 1371 | variable modify & 1372 | variable_name = .MODEL_1.ns.include_mnf & 1373 | string_value = "no" 1374 | ! 1375 | variable modify & 1376 | variable_name = .MODEL_1.ns.hp_group & 1377 | object_value = (NONE) 1378 | ! 1379 | variable modify & 1380 | variable_name = .MODEL_1.ns.pv_group & 1381 | object_value = (NONE) 1382 | ! 1383 | variable modify & 1384 | variable_name = .MODEL_1.ns.gp_group & 1385 | object_value = (NONE) 1386 | ! 1387 | variable modify & 1388 | variable_name = .MODEL_1.ns.pf_group & 1389 | object_value = (NONE) 1390 | ! 1391 | variable modify & 1392 | variable_name = .MODEL_1.ns.ude_group & 1393 | object_value = (NONE) 1394 | ! 1395 | ude modify instance & 1396 | instance_name = .MODEL_1.ns 1397 | ! 1398 | !-------------------------- Adams View UDE Instance ---------------------------! 1399 | ! 1400 | ! 1401 | variable modify & 1402 | variable_name = .MODEL_1.ns2.input_channels & 1403 | object_value = & 1404 | .MODEL_1.torque1, & 1405 | .MODEL_1.torque2, & 1406 | .MODEL_1.torque3, & 1407 | .MODEL_1.torque4, & 1408 | .MODEL_1.torque5, & 1409 | .MODEL_1.torque6, & 1410 | .MODEL_1.torque7 1411 | ! 1412 | variable modify & 1413 | variable_name = .MODEL_1.ns2.output_channels & 1414 | object_value = & 1415 | .MODEL_1.qm1, & 1416 | .MODEL_1.qm2, & 1417 | .MODEL_1.qm3, & 1418 | .MODEL_1.qm4, & 1419 | .MODEL_1.qm5, & 1420 | .MODEL_1.qm6, & 1421 | .MODEL_1.qm7, & 1422 | .MODEL_1.v1, & 1423 | .MODEL_1.v2, & 1424 | .MODEL_1.v3, & 1425 | .MODEL_1.v4, & 1426 | .MODEL_1.v5, & 1427 | .MODEL_1.v6, & 1428 | .MODEL_1.v7 1429 | ! 1430 | variable modify & 1431 | variable_name = .MODEL_1.ns2.file_name & 1432 | string_value = "ns2" 1433 | ! 1434 | variable modify & 1435 | variable_name = .MODEL_1.ns2.event_name & 1436 | string_value = "" 1437 | ! 1438 | variable modify & 1439 | variable_name = .MODEL_1.ns2.solver_type & 1440 | string_value = "cplusplus" 1441 | ! 1442 | variable modify & 1443 | variable_name = .MODEL_1.ns2.target & 1444 | string_value = "MATLAB" 1445 | ! 1446 | variable modify & 1447 | variable_name = .MODEL_1.ns2.FMI_Master & 1448 | string_value = "none" 1449 | ! 1450 | variable modify & 1451 | variable_name = .MODEL_1.ns2.analysis_type & 1452 | string_value = "non_linear" 1453 | ! 1454 | variable modify & 1455 | variable_name = .MODEL_1.ns2.analysis_init & 1456 | string_value = "no" 1457 | ! 1458 | variable modify & 1459 | variable_name = .MODEL_1.ns2.analysis_init_str & 1460 | string_value = "" 1461 | ! 1462 | variable modify & 1463 | variable_name = .MODEL_1.ns2.user_lib & 1464 | string_value = "" 1465 | ! 1466 | variable modify & 1467 | variable_name = .MODEL_1.ns2.host & 1468 | string_value = "LAPTOP-5088IVHI" 1469 | ! 1470 | variable modify & 1471 | variable_name = .MODEL_1.ns2.dynamic_state & 1472 | string_value = "on" 1473 | ! 1474 | variable modify & 1475 | variable_name = .MODEL_1.ns2.tcp_ip & 1476 | string_value = "off" 1477 | ! 1478 | variable modify & 1479 | variable_name = .MODEL_1.ns2.output_rate & 1480 | integer_value = 1 1481 | ! 1482 | variable modify & 1483 | variable_name = .MODEL_1.ns2.realtime & 1484 | string_value = "off" 1485 | ! 1486 | variable modify & 1487 | variable_name = .MODEL_1.ns2.include_mnf & 1488 | string_value = "no" 1489 | ! 1490 | variable modify & 1491 | variable_name = .MODEL_1.ns2.hp_group & 1492 | object_value = (NONE) 1493 | ! 1494 | variable modify & 1495 | variable_name = .MODEL_1.ns2.pv_group & 1496 | object_value = (NONE) 1497 | ! 1498 | variable modify & 1499 | variable_name = .MODEL_1.ns2.gp_group & 1500 | object_value = (NONE) 1501 | ! 1502 | variable modify & 1503 | variable_name = .MODEL_1.ns2.pf_group & 1504 | object_value = (NONE) 1505 | ! 1506 | variable modify & 1507 | variable_name = .MODEL_1.ns2.ude_group & 1508 | object_value = (NONE) 1509 | ! 1510 | ude modify instance & 1511 | instance_name = .MODEL_1.ns2 1512 | ! 1513 | !-------------------------- Adams View UDE Instance ---------------------------! 1514 | ! 1515 | ! 1516 | variable modify & 1517 | variable_name = .MODEL_1.ns3.input_channels & 1518 | object_value = & 1519 | .MODEL_1.torque1, & 1520 | .MODEL_1.torque2, & 1521 | .MODEL_1.torque3, & 1522 | .MODEL_1.torque4, & 1523 | .MODEL_1.torque5, & 1524 | .MODEL_1.torque6, & 1525 | .MODEL_1.torque7 1526 | ! 1527 | variable modify & 1528 | variable_name = .MODEL_1.ns3.output_channels & 1529 | object_value = & 1530 | .MODEL_1.qm1, & 1531 | .MODEL_1.qm2, & 1532 | .MODEL_1.qm3, & 1533 | .MODEL_1.qm4, & 1534 | .MODEL_1.qm5, & 1535 | .MODEL_1.qm6, & 1536 | .MODEL_1.qm7, & 1537 | .MODEL_1.v1, & 1538 | .MODEL_1.v2, & 1539 | .MODEL_1.v3, & 1540 | .MODEL_1.v4, & 1541 | .MODEL_1.v5, & 1542 | .MODEL_1.v6, & 1543 | .MODEL_1.v7 1544 | ! 1545 | variable modify & 1546 | variable_name = .MODEL_1.ns3.file_name & 1547 | string_value = "ns3" 1548 | ! 1549 | variable modify & 1550 | variable_name = .MODEL_1.ns3.event_name & 1551 | string_value = "" 1552 | ! 1553 | variable modify & 1554 | variable_name = .MODEL_1.ns3.solver_type & 1555 | string_value = "cplusplus" 1556 | ! 1557 | variable modify & 1558 | variable_name = .MODEL_1.ns3.target & 1559 | string_value = "MATLAB" 1560 | ! 1561 | variable modify & 1562 | variable_name = .MODEL_1.ns3.FMI_Master & 1563 | string_value = "none" 1564 | ! 1565 | variable modify & 1566 | variable_name = .MODEL_1.ns3.analysis_type & 1567 | string_value = "non_linear" 1568 | ! 1569 | variable modify & 1570 | variable_name = .MODEL_1.ns3.analysis_init & 1571 | string_value = "no" 1572 | ! 1573 | variable modify & 1574 | variable_name = .MODEL_1.ns3.analysis_init_str & 1575 | string_value = "" 1576 | ! 1577 | variable modify & 1578 | variable_name = .MODEL_1.ns3.user_lib & 1579 | string_value = "" 1580 | ! 1581 | variable modify & 1582 | variable_name = .MODEL_1.ns3.host & 1583 | string_value = "LAPTOP-5088IVHI" 1584 | ! 1585 | variable modify & 1586 | variable_name = .MODEL_1.ns3.dynamic_state & 1587 | string_value = "on" 1588 | ! 1589 | variable modify & 1590 | variable_name = .MODEL_1.ns3.tcp_ip & 1591 | string_value = "off" 1592 | ! 1593 | variable modify & 1594 | variable_name = .MODEL_1.ns3.output_rate & 1595 | integer_value = 1 1596 | ! 1597 | variable modify & 1598 | variable_name = .MODEL_1.ns3.realtime & 1599 | string_value = "off" 1600 | ! 1601 | variable modify & 1602 | variable_name = .MODEL_1.ns3.include_mnf & 1603 | string_value = "no" 1604 | ! 1605 | variable modify & 1606 | variable_name = .MODEL_1.ns3.hp_group & 1607 | object_value = (NONE) 1608 | ! 1609 | variable modify & 1610 | variable_name = .MODEL_1.ns3.pv_group & 1611 | object_value = (NONE) 1612 | ! 1613 | variable modify & 1614 | variable_name = .MODEL_1.ns3.gp_group & 1615 | object_value = (NONE) 1616 | ! 1617 | variable modify & 1618 | variable_name = .MODEL_1.ns3.pf_group & 1619 | object_value = (NONE) 1620 | ! 1621 | variable modify & 1622 | variable_name = .MODEL_1.ns3.ude_group & 1623 | object_value = (NONE) 1624 | ! 1625 | ude modify instance & 1626 | instance_name = .MODEL_1.ns3 1627 | ! 1628 | !-------------------------- Adams View UDE Instance ---------------------------! 1629 | ! 1630 | ! 1631 | variable modify & 1632 | variable_name = .MODEL_1.Controls_Plant_1.input_channels & 1633 | object_value = & 1634 | .MODEL_1.torque1, & 1635 | .MODEL_1.torque2, & 1636 | .MODEL_1.torque3, & 1637 | .MODEL_1.torque4, & 1638 | .MODEL_1.torque5, & 1639 | .MODEL_1.torque6, & 1640 | .MODEL_1.torque7 1641 | ! 1642 | variable modify & 1643 | variable_name = .MODEL_1.Controls_Plant_1.output_channels & 1644 | object_value = & 1645 | .MODEL_1.qm1, & 1646 | .MODEL_1.qm2, & 1647 | .MODEL_1.qm3, & 1648 | .MODEL_1.qm4, & 1649 | .MODEL_1.qm5, & 1650 | .MODEL_1.qm6, & 1651 | .MODEL_1.qm7, & 1652 | .MODEL_1.v1, & 1653 | .MODEL_1.v2, & 1654 | .MODEL_1.v3, & 1655 | .MODEL_1.v4, & 1656 | .MODEL_1.v5, & 1657 | .MODEL_1.v6, & 1658 | .MODEL_1.v7 1659 | ! 1660 | variable modify & 1661 | variable_name = .MODEL_1.Controls_Plant_1.file_name & 1662 | string_value = "Controls_Plant_1" 1663 | ! 1664 | variable modify & 1665 | variable_name = .MODEL_1.Controls_Plant_1.event_name & 1666 | string_value = "" 1667 | ! 1668 | variable modify & 1669 | variable_name = .MODEL_1.Controls_Plant_1.solver_type & 1670 | string_value = "cplusplus" 1671 | ! 1672 | variable modify & 1673 | variable_name = .MODEL_1.Controls_Plant_1.target & 1674 | string_value = "MATLAB" 1675 | ! 1676 | variable modify & 1677 | variable_name = .MODEL_1.Controls_Plant_1.FMI_Master & 1678 | string_value = "none" 1679 | ! 1680 | variable modify & 1681 | variable_name = .MODEL_1.Controls_Plant_1.analysis_type & 1682 | string_value = "non_linear" 1683 | ! 1684 | variable modify & 1685 | variable_name = .MODEL_1.Controls_Plant_1.analysis_init & 1686 | string_value = "no" 1687 | ! 1688 | variable modify & 1689 | variable_name = .MODEL_1.Controls_Plant_1.analysis_init_str & 1690 | string_value = "" 1691 | ! 1692 | variable modify & 1693 | variable_name = .MODEL_1.Controls_Plant_1.user_lib & 1694 | string_value = "" 1695 | ! 1696 | variable modify & 1697 | variable_name = .MODEL_1.Controls_Plant_1.host & 1698 | string_value = "LAPTOP-5088IVHI" 1699 | ! 1700 | variable modify & 1701 | variable_name = .MODEL_1.Controls_Plant_1.dynamic_state & 1702 | string_value = "on" 1703 | ! 1704 | variable modify & 1705 | variable_name = .MODEL_1.Controls_Plant_1.tcp_ip & 1706 | string_value = "off" 1707 | ! 1708 | variable modify & 1709 | variable_name = .MODEL_1.Controls_Plant_1.output_rate & 1710 | integer_value = 1 1711 | ! 1712 | variable modify & 1713 | variable_name = .MODEL_1.Controls_Plant_1.realtime & 1714 | string_value = "off" 1715 | ! 1716 | variable modify & 1717 | variable_name = .MODEL_1.Controls_Plant_1.include_mnf & 1718 | string_value = "no" 1719 | ! 1720 | variable modify & 1721 | variable_name = .MODEL_1.Controls_Plant_1.hp_group & 1722 | object_value = (NONE) 1723 | ! 1724 | variable modify & 1725 | variable_name = .MODEL_1.Controls_Plant_1.pv_group & 1726 | object_value = (NONE) 1727 | ! 1728 | variable modify & 1729 | variable_name = .MODEL_1.Controls_Plant_1.gp_group & 1730 | object_value = (NONE) 1731 | ! 1732 | variable modify & 1733 | variable_name = .MODEL_1.Controls_Plant_1.pf_group & 1734 | object_value = (NONE) 1735 | ! 1736 | variable modify & 1737 | variable_name = .MODEL_1.Controls_Plant_1.ude_group & 1738 | object_value = (NONE) 1739 | ! 1740 | ude modify instance & 1741 | instance_name = .MODEL_1.Controls_Plant_1 1742 | ! 1743 | undo end_block 1744 | ! 1745 | !------------------------------ Dynamic Graphics ------------------------------! 1746 | ! 1747 | ! 1748 | defaults coordinate_system & 1749 | default_coordinate_system = .MODEL_1.ground 1750 | ! 1751 | geometry create shape force & 1752 | force_name = .MODEL_1.SFORCE_1_force_graphic_1 & 1753 | adams_id = 1 & 1754 | force_element_name = .MODEL_1.SFORCE_1 & 1755 | applied_at_marker_name = .MODEL_1.PART_1.MARKER_42 1756 | ! 1757 | geometry create shape force & 1758 | force_name = .MODEL_1.SFORCE_1_2_force_graphic_1 & 1759 | adams_id = 2 & 1760 | force_element_name = .MODEL_1.SFORCE_3 & 1761 | applied_at_marker_name = .MODEL_1.PART_3.q3 1762 | ! 1763 | geometry create shape force & 1764 | force_name = .MODEL_1.SFORCE_1_3_force_graphic_1 & 1765 | adams_id = 3 & 1766 | force_element_name = .MODEL_1.SFORCE_4 & 1767 | applied_at_marker_name = .MODEL_1.PART_4.MARKER_46 1768 | ! 1769 | geometry create shape force & 1770 | force_name = .MODEL_1.SFORCE_1_4_force_graphic_1 & 1771 | adams_id = 4 & 1772 | force_element_name = .MODEL_1.SFORCE_5 & 1773 | applied_at_marker_name = .MODEL_1.PART_5.MARKER_48 1774 | ! 1775 | geometry create shape force & 1776 | force_name = .MODEL_1.SFORCE_1_5_force_graphic_1 & 1777 | adams_id = 5 & 1778 | force_element_name = .MODEL_1.SFORCE_7 & 1779 | applied_at_marker_name = .MODEL_1.PART_7.MARKER_50 1780 | ! 1781 | geometry create shape force & 1782 | force_name = .MODEL_1.SFORCE_1_6_force_graphic_1 & 1783 | adams_id = 6 & 1784 | force_element_name = .MODEL_1.SFORCE_2 & 1785 | applied_at_marker_name = .MODEL_1.PART_2.MARKER_52 1786 | ! 1787 | geometry create shape force & 1788 | force_name = .MODEL_1.SFORCE_1_7_force_graphic_1 & 1789 | adams_id = 7 & 1790 | force_element_name = .MODEL_1.SFORCE_6 & 1791 | applied_at_marker_name = .MODEL_1.PART_6.MARKER_54 1792 | ! 1793 | !---------------------------------- Motions -----------------------------------! 1794 | ! 1795 | ! 1796 | constraint create motion_generator & 1797 | motion_name = .MODEL_1.MOTION_1 & 1798 | adams_id = 1 & 1799 | type_of_freedom = rotational & 1800 | joint_name = .MODEL_1.JOINT_1 & 1801 | function = "" 1802 | ! 1803 | constraint attributes & 1804 | constraint_name = .MODEL_1.MOTION_1 & 1805 | active = off & 1806 | name_visibility = off & 1807 | size_of_icons = 7.0E-02 1808 | ! 1809 | constraint create motion_generator & 1810 | motion_name = .MODEL_1.MOTION_2 & 1811 | adams_id = 2 & 1812 | type_of_freedom = rotational & 1813 | joint_name = .MODEL_1.JOINT_2 & 1814 | function = "" 1815 | ! 1816 | constraint attributes & 1817 | constraint_name = .MODEL_1.MOTION_2 & 1818 | active = off & 1819 | name_visibility = off & 1820 | size_of_icons = 7.0E-02 1821 | ! 1822 | constraint create motion_generator & 1823 | motion_name = .MODEL_1.MOTION_3 & 1824 | adams_id = 3 & 1825 | type_of_freedom = rotational & 1826 | joint_name = .MODEL_1.JOINT_3 & 1827 | function = "" 1828 | ! 1829 | constraint attributes & 1830 | constraint_name = .MODEL_1.MOTION_3 & 1831 | active = off & 1832 | name_visibility = off & 1833 | size_of_icons = 7.0E-02 1834 | ! 1835 | constraint create motion_generator & 1836 | motion_name = .MODEL_1.MOTION_4 & 1837 | adams_id = 4 & 1838 | type_of_freedom = rotational & 1839 | joint_name = .MODEL_1.JOINT_4 & 1840 | function = "" 1841 | ! 1842 | constraint attributes & 1843 | constraint_name = .MODEL_1.MOTION_4 & 1844 | active = off & 1845 | name_visibility = off & 1846 | size_of_icons = 7.0E-02 1847 | ! 1848 | constraint create motion_generator & 1849 | motion_name = .MODEL_1.MOTION_5 & 1850 | adams_id = 5 & 1851 | type_of_freedom = rotational & 1852 | joint_name = .MODEL_1.JOINT_5 & 1853 | function = "" 1854 | ! 1855 | constraint attributes & 1856 | constraint_name = .MODEL_1.MOTION_5 & 1857 | active = off & 1858 | name_visibility = off & 1859 | size_of_icons = 7.0E-02 1860 | ! 1861 | constraint create motion_generator & 1862 | motion_name = .MODEL_1.MOTION_6 & 1863 | adams_id = 6 & 1864 | type_of_freedom = rotational & 1865 | joint_name = .MODEL_1.JOINT_6 & 1866 | function = "" 1867 | ! 1868 | constraint attributes & 1869 | constraint_name = .MODEL_1.MOTION_6 & 1870 | active = off & 1871 | name_visibility = off & 1872 | size_of_icons = 7.0E-02 1873 | ! 1874 | constraint create motion_generator & 1875 | motion_name = .MODEL_1.MOTION_7 & 1876 | adams_id = 7 & 1877 | type_of_freedom = rotational & 1878 | joint_name = .MODEL_1.JOINT_7 & 1879 | function = "" 1880 | ! 1881 | constraint attributes & 1882 | constraint_name = .MODEL_1.MOTION_7 & 1883 | active = off & 1884 | name_visibility = off & 1885 | size_of_icons = 7.0E-02 1886 | ! 1887 | !---------------------------------- Accgrav -----------------------------------! 1888 | ! 1889 | ! 1890 | force create body gravitational & 1891 | gravity_field_name = gravity & 1892 | x_component_gravity = 0.0 & 1893 | y_component_gravity = 0.0 & 1894 | z_component_gravity = 0.0 1895 | ! 1896 | force attributes & 1897 | force_name = .MODEL_1.gravity & 1898 | visibility = off & 1899 | size_of_icons = 0.1 1900 | ! 1901 | !----------------------------- Analysis settings ------------------------------! 1902 | ! 1903 | ! 1904 | !---------------------------------- Measures ----------------------------------! 1905 | ! 1906 | ! 1907 | measure create object & 1908 | measure_name = .MODEL_1.JOINT_1_MEA_1 & 1909 | from_first = no & 1910 | object = .MODEL_1.JOINT_1 & 1911 | characteristic = ax_ay_az_projection_angles & 1912 | component = z_component & 1913 | create_measure_display = no 1914 | ! 1915 | data_element attributes & 1916 | data_element_name = .MODEL_1.JOINT_1_MEA_1 & 1917 | color = WHITE 1918 | ! 1919 | measure create object & 1920 | measure_name = .MODEL_1.JOINT_2_MEA_1 & 1921 | from_first = no & 1922 | object = .MODEL_1.JOINT_2 & 1923 | characteristic = ax_ay_az_projection_angles & 1924 | component = z_component & 1925 | create_measure_display = no 1926 | ! 1927 | data_element attributes & 1928 | data_element_name = .MODEL_1.JOINT_2_MEA_1 & 1929 | color = WHITE 1930 | ! 1931 | measure create object & 1932 | measure_name = .MODEL_1.JOINT_3_MEA_1 & 1933 | from_first = no & 1934 | object = .MODEL_1.JOINT_3 & 1935 | characteristic = ax_ay_az_projection_angles & 1936 | component = z_component & 1937 | create_measure_display = no 1938 | ! 1939 | data_element attributes & 1940 | data_element_name = .MODEL_1.JOINT_3_MEA_1 & 1941 | color = WHITE 1942 | ! 1943 | measure create object & 1944 | measure_name = .MODEL_1.JOINT_4_MEA_1 & 1945 | from_first = no & 1946 | object = .MODEL_1.JOINT_4 & 1947 | characteristic = ax_ay_az_projection_angles & 1948 | component = z_component & 1949 | create_measure_display = no 1950 | ! 1951 | data_element attributes & 1952 | data_element_name = .MODEL_1.JOINT_4_MEA_1 & 1953 | color = WHITE 1954 | ! 1955 | measure create object & 1956 | measure_name = .MODEL_1.JOINT_5_MEA_1 & 1957 | from_first = no & 1958 | object = .MODEL_1.JOINT_5 & 1959 | characteristic = ax_ay_az_projection_angles & 1960 | component = z_component & 1961 | create_measure_display = no 1962 | ! 1963 | data_element attributes & 1964 | data_element_name = .MODEL_1.JOINT_5_MEA_1 & 1965 | color = WHITE 1966 | ! 1967 | measure create object & 1968 | measure_name = .MODEL_1.JOINT_6_MEA_1 & 1969 | from_first = no & 1970 | object = .MODEL_1.JOINT_6 & 1971 | characteristic = ax_ay_az_projection_angles & 1972 | component = z_component & 1973 | create_measure_display = no 1974 | ! 1975 | data_element attributes & 1976 | data_element_name = .MODEL_1.JOINT_6_MEA_1 & 1977 | color = WHITE 1978 | ! 1979 | measure create object & 1980 | measure_name = .MODEL_1.JOINT_7_MEA_1 & 1981 | from_first = no & 1982 | object = .MODEL_1.JOINT_7 & 1983 | characteristic = ax_ay_az_projection_angles & 1984 | component = z_component & 1985 | create_measure_display = no 1986 | ! 1987 | data_element attributes & 1988 | data_element_name = .MODEL_1.JOINT_7_MEA_1 & 1989 | color = WHITE 1990 | ! 1991 | !---------------------------- Function definitions ----------------------------! 1992 | ! 1993 | ! 1994 | constraint modify motion_generator & 1995 | motion_name = .MODEL_1.MOTION_1 & 1996 | function = "0" 1997 | ! 1998 | constraint modify motion_generator & 1999 | motion_name = .MODEL_1.MOTION_2 & 2000 | function = "0" 2001 | ! 2002 | constraint modify motion_generator & 2003 | motion_name = .MODEL_1.MOTION_3 & 2004 | function = "0" 2005 | ! 2006 | constraint modify motion_generator & 2007 | motion_name = .MODEL_1.MOTION_4 & 2008 | function = "0" 2009 | ! 2010 | constraint modify motion_generator & 2011 | motion_name = .MODEL_1.MOTION_5 & 2012 | function = "0" 2013 | ! 2014 | constraint modify motion_generator & 2015 | motion_name = .MODEL_1.MOTION_6 & 2016 | function = "0" 2017 | ! 2018 | constraint modify motion_generator & 2019 | motion_name = .MODEL_1.MOTION_7 & 2020 | function = "0" 2021 | ! 2022 | data_element modify variable & 2023 | variable_name = .MODEL_1.torque1 & 2024 | function = "0" 2025 | ! 2026 | data_element modify variable & 2027 | variable_name = .MODEL_1.torque2 & 2028 | function = "0" 2029 | ! 2030 | data_element modify variable & 2031 | variable_name = .MODEL_1.torque3 & 2032 | function = "0" 2033 | ! 2034 | data_element modify variable & 2035 | variable_name = .MODEL_1.torque4 & 2036 | function = "0" 2037 | ! 2038 | data_element modify variable & 2039 | variable_name = .MODEL_1.torque5 & 2040 | function = "0" 2041 | ! 2042 | data_element modify variable & 2043 | variable_name = .MODEL_1.torque6 & 2044 | function = "0" 2045 | ! 2046 | data_element modify variable & 2047 | variable_name = .MODEL_1.torque7 & 2048 | function = "0" 2049 | ! 2050 | data_element modify variable & 2051 | variable_name = .MODEL_1.v1 & 2052 | function = "WZ( .MODEL_1.PART_1.q1, .MODEL_1.ground.q0, .MODEL_1.ground.q0)" 2053 | ! 2054 | data_element modify variable & 2055 | variable_name = .MODEL_1.v2 & 2056 | function = "WZ( .MODEL_1.PART_2.q2, .MODEL_1.PART_1.q1, .MODEL_1.PART_1.q1)" 2057 | ! 2058 | data_element modify variable & 2059 | variable_name = .MODEL_1.v3 & 2060 | function = "WZ( .MODEL_1.PART_3.q3, .MODEL_1.PART_2.q2, .MODEL_1.PART_2.q2)" 2061 | ! 2062 | data_element modify variable & 2063 | variable_name = .MODEL_1.v4 & 2064 | function = "WZ( .MODEL_1.PART_4.q4, .MODEL_1.PART_3.q3, .MODEL_1.PART_3.q3)" 2065 | ! 2066 | data_element modify variable & 2067 | variable_name = .MODEL_1.v5 & 2068 | function = "WZ( .MODEL_1.PART_5.q5, .MODEL_1.PART_4.q4, .MODEL_1.PART_4.q4)" 2069 | ! 2070 | data_element modify variable & 2071 | variable_name = .MODEL_1.v6 & 2072 | function = "WZ( .MODEL_1.PART_6.q6, .MODEL_1.PART_5.q5, .MODEL_1.PART_5.q5)" 2073 | ! 2074 | data_element modify variable & 2075 | variable_name = .MODEL_1.v7 & 2076 | function = "WZ( .MODEL_1.PART_7.q7, .MODEL_1.PART_6.q6, .MODEL_1.PART_6.q6)" 2077 | ! 2078 | data_element modify variable & 2079 | variable_name = .MODEL_1.qm1 & 2080 | function = ".MODEL_1.JOINT_1_MEA_1" 2081 | ! 2082 | data_element modify variable & 2083 | variable_name = .MODEL_1.qm2 & 2084 | function = ".MODEL_1.JOINT_2_MEA_1" 2085 | ! 2086 | data_element modify variable & 2087 | variable_name = .MODEL_1.qm3 & 2088 | function = ".MODEL_1.JOINT_3_MEA_1" 2089 | ! 2090 | data_element modify variable & 2091 | variable_name = .MODEL_1.qm4 & 2092 | function = ".MODEL_1.JOINT_4_MEA_1" 2093 | ! 2094 | data_element modify variable & 2095 | variable_name = .MODEL_1.qm5 & 2096 | function = ".MODEL_1.JOINT_5_MEA_1" 2097 | ! 2098 | data_element modify variable & 2099 | variable_name = .MODEL_1.qm6 & 2100 | function = ".MODEL_1.JOINT_6_MEA_1" 2101 | ! 2102 | data_element modify variable & 2103 | variable_name = .MODEL_1.qm7 & 2104 | function = ".MODEL_1.JOINT_7_MEA_1" 2105 | ! 2106 | force modify direct single_component_force & 2107 | single_component_force_name = .MODEL_1.SFORCE_1 & 2108 | function = "VARVAL(.MODEL_1.torque1)" 2109 | ! 2110 | force modify direct single_component_force & 2111 | single_component_force_name = .MODEL_1.SFORCE_3 & 2112 | function = "VARVAL(.MODEL_1.torque3)" 2113 | ! 2114 | force modify direct single_component_force & 2115 | single_component_force_name = .MODEL_1.SFORCE_4 & 2116 | function = "VARVAL(.MODEL_1.torque4)" 2117 | ! 2118 | force modify direct single_component_force & 2119 | single_component_force_name = .MODEL_1.SFORCE_5 & 2120 | function = "VARVAL(.MODEL_1.torque5)" 2121 | ! 2122 | force modify direct single_component_force & 2123 | single_component_force_name = .MODEL_1.SFORCE_7 & 2124 | function = "VARVAL(.MODEL_1.torque7)" 2125 | ! 2126 | force modify direct single_component_force & 2127 | single_component_force_name = .MODEL_1.SFORCE_2 & 2128 | function = "-VARVAL(.MODEL_1.torque2)" 2129 | ! 2130 | force modify direct single_component_force & 2131 | single_component_force_name = .MODEL_1.SFORCE_6 & 2132 | function = "-VARVAL(.MODEL_1.torque6)" 2133 | ! 2134 | !-------------------------- Adams View UDE Instance ---------------------------! 2135 | ! 2136 | ! 2137 | ude modify instance & 2138 | instance_name = .MODEL_1.ns 2139 | ! 2140 | !-------------------------- Adams View UDE Instance ---------------------------! 2141 | ! 2142 | ! 2143 | ude modify instance & 2144 | instance_name = .MODEL_1.ns2 2145 | ! 2146 | !-------------------------- Adams View UDE Instance ---------------------------! 2147 | ! 2148 | ! 2149 | ude modify instance & 2150 | instance_name = .MODEL_1.ns3 2151 | ! 2152 | !-------------------------- Adams View UDE Instance ---------------------------! 2153 | ! 2154 | ! 2155 | ude modify instance & 2156 | instance_name = .MODEL_1.Controls_Plant_1 2157 | ! 2158 | !--------------------------- Expression definitions ---------------------------! 2159 | ! 2160 | ! 2161 | defaults coordinate_system & 2162 | default_coordinate_system = ground 2163 | ! 2164 | marker modify & 2165 | marker_name = .MODEL_1.PART_1.MARKER_4 & 2166 | location = & 2167 | (LOC_RELATIVE_TO({31.0cm, 0.0, 0.0}, .MODEL_1.PART_1.MARKER_3)) & 2168 | relative_to = .MODEL_1.PART_1 2169 | ! 2170 | defaults coordinate_system & 2171 | default_coordinate_system = .MODEL_1.ground 2172 | ! 2173 | geometry modify shape link & 2174 | link_name = .MODEL_1.PART_1.LINK_2 & 2175 | width = (10.0cm) & 2176 | depth = (10.0cm) 2177 | ! 2178 | marker modify & 2179 | marker_name = .MODEL_1.PART_1.MARKER_2 & 2180 | location = & 2181 | (LOC_RELATIVE_TO({28.0cm, 0.0, 0.0}, .MODEL_1.PART_1.MARKER_1)) & 2182 | relative_to = .MODEL_1.PART_1 2183 | ! 2184 | defaults coordinate_system & 2185 | default_coordinate_system = .MODEL_1.ground 2186 | ! 2187 | geometry modify shape link & 2188 | link_name = .MODEL_1.PART_1.LINK_1 & 2189 | width = (10.0cm) & 2190 | depth = (10.0cm) 2191 | ! 2192 | marker modify & 2193 | marker_name = .MODEL_1.PART_2.MARKER_6 & 2194 | location = & 2195 | (LOC_RELATIVE_TO({31.0cm, 0.0, 0.0}, .MODEL_1.PART_2.MARKER_5)) & 2196 | relative_to = .MODEL_1.PART_2 2197 | ! 2198 | defaults coordinate_system & 2199 | default_coordinate_system = .MODEL_1.ground 2200 | ! 2201 | geometry modify shape link & 2202 | link_name = .MODEL_1.PART_2.LINK_3 & 2203 | width = (10.0cm) & 2204 | depth = (10.0cm) 2205 | ! 2206 | marker modify & 2207 | marker_name = .MODEL_1.PART_3.MARKER_8 & 2208 | location = & 2209 | (LOC_RELATIVE_TO({190.0cm, 0.0, 0.0}, .MODEL_1.PART_3.MARKER_7)) & 2210 | relative_to = .MODEL_1.PART_3 2211 | ! 2212 | defaults coordinate_system & 2213 | default_coordinate_system = .MODEL_1.ground 2214 | ! 2215 | geometry modify shape link & 2216 | link_name = .MODEL_1.PART_3.LINK_4 & 2217 | width = (10.0cm) & 2218 | depth = (10.0cm) 2219 | ! 2220 | marker modify & 2221 | marker_name = .MODEL_1.PART_3.MARKER_10 & 2222 | location = & 2223 | (LOC_RELATIVE_TO({27.0cm, 0.0, 0.0}, .MODEL_1.PART_3.MARKER_9)) & 2224 | relative_to = .MODEL_1.PART_3 2225 | ! 2226 | defaults coordinate_system & 2227 | default_coordinate_system = .MODEL_1.ground 2228 | ! 2229 | geometry modify shape link & 2230 | link_name = .MODEL_1.PART_3.LINK_5 & 2231 | width = (10.0cm) & 2232 | depth = (10.0cm) 2233 | ! 2234 | marker modify & 2235 | marker_name = .MODEL_1.PART_4.MARKER_12 & 2236 | location = & 2237 | (LOC_RELATIVE_TO({190.0cm, 0.0, 0.0}, .MODEL_1.PART_4.MARKER_11)) & 2238 | relative_to = .MODEL_1.PART_4 2239 | ! 2240 | defaults coordinate_system & 2241 | default_coordinate_system = .MODEL_1.ground 2242 | ! 2243 | geometry modify shape link & 2244 | link_name = .MODEL_1.PART_4.LINK_6 & 2245 | width = (10.0cm) & 2246 | depth = (10.0cm) 2247 | ! 2248 | marker modify & 2249 | marker_name = .MODEL_1.PART_4.MARKER_14 & 2250 | location = & 2251 | (LOC_RELATIVE_TO({27.0cm, 0.0, 0.0}, .MODEL_1.PART_4.MARKER_13)) & 2252 | relative_to = .MODEL_1.PART_4 2253 | ! 2254 | defaults coordinate_system & 2255 | default_coordinate_system = .MODEL_1.ground 2256 | ! 2257 | geometry modify shape link & 2258 | link_name = .MODEL_1.PART_4.LINK_7 & 2259 | width = (10.0cm) & 2260 | depth = (10.0cm) 2261 | ! 2262 | marker modify & 2263 | marker_name = .MODEL_1.PART_5.MARKER_16 & 2264 | location = & 2265 | (LOC_RELATIVE_TO({31.0cm, 0.0, 0.0}, .MODEL_1.PART_5.MARKER_15)) & 2266 | relative_to = .MODEL_1.PART_5 2267 | ! 2268 | defaults coordinate_system & 2269 | default_coordinate_system = .MODEL_1.ground 2270 | ! 2271 | geometry modify shape link & 2272 | link_name = .MODEL_1.PART_5.LINK_8 & 2273 | width = (10.0cm) & 2274 | depth = (10.0cm) 2275 | ! 2276 | marker modify & 2277 | marker_name = .MODEL_1.PART_6.MARKER_18 & 2278 | location = & 2279 | (LOC_RELATIVE_TO({65.0cm, 0.0, 0.0}, .MODEL_1.PART_6.MARKER_17)) & 2280 | relative_to = .MODEL_1.PART_6 2281 | ! 2282 | defaults coordinate_system & 2283 | default_coordinate_system = .MODEL_1.ground 2284 | ! 2285 | geometry modify shape link & 2286 | link_name = .MODEL_1.PART_6.LINK_9 & 2287 | width = (10.0cm) & 2288 | depth = (10.0cm) 2289 | ! 2290 | marker modify & 2291 | marker_name = .MODEL_1.PART_7.MARKER_20 & 2292 | location = & 2293 | (LOC_RELATIVE_TO({30.0cm, 0.0, 0.0}, .MODEL_1.PART_7.MARKER_19)) & 2294 | relative_to = .MODEL_1.PART_7 2295 | ! 2296 | defaults coordinate_system & 2297 | default_coordinate_system = .MODEL_1.ground 2298 | ! 2299 | geometry modify shape link & 2300 | link_name = .MODEL_1.PART_7.LINK_10 & 2301 | width = (10.0cm) & 2302 | depth = (10.0cm) 2303 | ! 2304 | material modify & 2305 | material_name = .MODEL_1.steel & 2306 | density = (7801.0(kg/meter**3)) & 2307 | youngs_modulus = (2.07E+11(Newton/meter**2)) 2308 | ! 2309 | geometry modify shape force & 2310 | force_name = .MODEL_1.SFORCE_1_force_graphic_1 & 2311 | applied_at_marker_name = (.MODEL_1.SFORCE_1.i) 2312 | ! 2313 | geometry modify shape force & 2314 | force_name = .MODEL_1.SFORCE_1_2_force_graphic_1 & 2315 | applied_at_marker_name = (.MODEL_1.SFORCE_3.i) 2316 | ! 2317 | geometry modify shape force & 2318 | force_name = .MODEL_1.SFORCE_1_3_force_graphic_1 & 2319 | applied_at_marker_name = (.MODEL_1.SFORCE_4.i) 2320 | ! 2321 | geometry modify shape force & 2322 | force_name = .MODEL_1.SFORCE_1_4_force_graphic_1 & 2323 | applied_at_marker_name = (.MODEL_1.SFORCE_5.i) 2324 | ! 2325 | geometry modify shape force & 2326 | force_name = .MODEL_1.SFORCE_1_5_force_graphic_1 & 2327 | applied_at_marker_name = (.MODEL_1.SFORCE_7.i) 2328 | ! 2329 | geometry modify shape force & 2330 | force_name = .MODEL_1.SFORCE_1_6_force_graphic_1 & 2331 | applied_at_marker_name = (.MODEL_1.SFORCE_2.i) 2332 | ! 2333 | geometry modify shape force & 2334 | force_name = .MODEL_1.SFORCE_1_7_force_graphic_1 & 2335 | applied_at_marker_name = (.MODEL_1.SFORCE_6.i) 2336 | ! 2337 | model display & 2338 | model_name = MODEL_1 2339 | -------------------------------------------------------------------------------- /Controls_Plant_1.m: -------------------------------------------------------------------------------- 1 | % Adams / MATLAB Interface - Release 2020.0.0 2 | global ADAMS_sysdir; % used by setup_rtw_for_adams.m 3 | global ADAMS_host; % used by start_adams_daemon.m 4 | machine=computer; 5 | datestr(now) 6 | if strcmp(machine, 'GLNXA64') 7 | arch = 'linux64'; 8 | elseif strcmp(machine, 'PCWIN64') 9 | arch = 'win64'; 10 | else 11 | disp( '%%% Error : Platform unknown or unsupported by Adams Controls.' ) ; 12 | arch = 'unknown_or_unsupported'; 13 | return 14 | end 15 | [flag, topdir]=system('adams2020 -top'); 16 | if flag == 0 17 | temp_str=strcat(topdir, '/controls/', arch); 18 | addpath(temp_str) 19 | temp_str=strcat(topdir, '/controls/', 'matlab'); 20 | addpath(temp_str) 21 | temp_str=strcat(topdir, '/controls/', 'utils'); 22 | addpath(temp_str) 23 | ADAMS_sysdir = strcat(topdir, ''); 24 | else 25 | addpath( 'C:\ruanjian\Adams\controls/win64' ) ; 26 | addpath( 'C:\ruanjian\Adams\controls/matlab' ) ; 27 | addpath( 'C:\ruanjian\Adams\controls/utils' ) ; 28 | ADAMS_sysdir = 'C:\ruanjian\Adams\' ; 29 | end 30 | ADAMS_exec = '' ; 31 | ADAMS_host = 'LAPTOP-5088IVHI' ; 32 | ADAMS_cwd ='C:\adams_work\adams_simulink_arm' ; 33 | ADAMS_prefix = 'Controls_Plant_1' ; 34 | ADAMS_static = 'no' ; 35 | ADAMS_solver_type = 'C++' ; 36 | ADAMS_version = '2020' ; 37 | if exist([ADAMS_prefix,'.adm']) == 0 38 | disp( ' ' ) ; 39 | disp( '%%% Warning : missing Adams plant model file(.adm) for Co-simulation or Function Evaluation.' ) ; 40 | disp( '%%% If necessary, please re-export model files or copy the exported plant model files into the' ) ; 41 | disp( '%%% working directory. You may disregard this warning if the Co-simulation/Function Evaluation' ) ; 42 | disp( '%%% is TCP/IP-based (running Adams on another machine), or if setting up MATLAB/Real-Time Workshop' ) ; 43 | disp( '%%% for generation of an External System Library.' ) ; 44 | disp( ' ' ) ; 45 | end 46 | ADAMS_init = '' ; 47 | ADAMS_inputs = 'torque1!torque2!torque3!torque4!torque5!torque6!torque7' ; 48 | ADAMS_outputs = 'qm1!qm2!qm3!qm4!qm5!qm6!qm7!v1!v2!v3!v4!v5!v6!v7' ; 49 | ADAMS_pinput = 'Controls_Plant_1.ctrl_pinput' ; 50 | ADAMS_poutput = 'Controls_Plant_1.ctrl_poutput' ; 51 | ADAMS_uy_ids = [ 52 | 1 53 | 2 54 | 3 55 | 4 56 | 5 57 | 6 58 | 7 59 | 15 60 | 16 61 | 17 62 | 18 63 | 19 64 | 20 65 | 21 66 | 8 67 | 9 68 | 10 69 | 11 70 | 12 71 | 13 72 | 14 73 | ] ; 74 | ADAMS_mode = 'non-linear' ; 75 | tmp_in = decode( ADAMS_inputs ) ; 76 | tmp_out = decode( ADAMS_outputs ) ; 77 | disp( ' ' ) ; 78 | disp( '%%% INFO : ADAMS plant actuators names :' ) ; 79 | disp( [int2str([1:size(tmp_in,1)]'),blanks(size(tmp_in,1))',tmp_in] ) ; 80 | disp( '%%% INFO : ADAMS plant sensors names :' ) ; 81 | disp( [int2str([1:size(tmp_out,1)]'),blanks(size(tmp_out,1))',tmp_out] ) ; 82 | disp( ' ' ) ; 83 | clear tmp_in tmp_out ; 84 | % Adams / MATLAB Interface - Release 2020.0.0 85 | -------------------------------------------------------------------------------- /Controls_Plant_1.req: -------------------------------------------------------------------------------- 1 | A.R3 2021-01-28 11:12:11 0 0 3D 2 | Adams View model name: MODEL_1 3 | 0 M_KGS_N_RACA 1.000000000000000E+00 4 | 0.00000E+00 5 | 5.00000E-03 6 | 1.00000E-02 7 | 1.50000E-02 8 | 2.00000E-02 9 | 2.50000E-02 10 | 3.00000E-02 11 | 3.50000E-02 12 | 4.00000E-02 13 | 4.50000E-02 14 | 5.00000E-02 15 | 5.50000E-02 16 | 6.00000E-02 17 | 6.50000E-02 18 | 7.00000E-02 19 | 7.50000E-02 20 | 8.00000E-02 21 | 8.50000E-02 22 | 9.00000E-02 23 | 9.50000E-02 24 | 1.00000E-01 25 | 1.05000E-01 26 | 1.10000E-01 27 | 1.15000E-01 28 | 1.20000E-01 29 | 1.25000E-01 30 | 1.30000E-01 31 | 1.35000E-01 32 | 1.40000E-01 33 | 1.45000E-01 34 | 1.50000E-01 35 | 1.55000E-01 36 | 1.60000E-01 37 | 1.65000E-01 38 | 1.70000E-01 39 | 1.75000E-01 40 | 1.80000E-01 41 | 1.85000E-01 42 | 1.90000E-01 43 | 1.95000E-01 44 | 2.00000E-01 45 | 2.05000E-01 46 | 2.10000E-01 47 | 2.15000E-01 48 | 2.20000E-01 49 | 2.25000E-01 50 | 2.30000E-01 51 | 2.35000E-01 52 | 2.40000E-01 53 | 2.45000E-01 54 | 2.50000E-01 55 | 2.55000E-01 56 | 2.60000E-01 57 | 2.65000E-01 58 | 2.70000E-01 59 | 2.75000E-01 60 | 2.80000E-01 61 | 2.85000E-01 62 | 2.90000E-01 63 | 2.95000E-01 64 | 3.00000E-01 65 | 3.05000E-01 66 | 3.10000E-01 67 | 3.15000E-01 68 | 3.20000E-01 69 | 3.25000E-01 70 | 3.30000E-01 71 | 3.35000E-01 72 | 3.40000E-01 73 | 3.45000E-01 74 | 3.50000E-01 75 | 3.55000E-01 76 | 3.60000E-01 77 | 3.65000E-01 78 | 3.70000E-01 79 | 3.75000E-01 80 | 3.80000E-01 81 | 3.85000E-01 82 | 3.90000E-01 83 | 3.95000E-01 84 | 4.00000E-01 85 | 4.05000E-01 86 | 4.10000E-01 87 | 4.15000E-01 88 | 4.20000E-01 89 | 4.25000E-01 90 | 4.30000E-01 91 | 4.35000E-01 92 | 4.40000E-01 93 | 4.45000E-01 94 | 4.50000E-01 95 | 4.55000E-01 96 | 4.60000E-01 97 | 4.65000E-01 98 | 4.70000E-01 99 | 4.75000E-01 100 | 4.80000E-01 101 | 4.85000E-01 102 | 4.90000E-01 103 | 4.95000E-01 104 | 5.00000E-01 105 | 5.05000E-01 106 | 5.10000E-01 107 | 5.15000E-01 108 | 5.20000E-01 109 | 5.25000E-01 110 | 5.30000E-01 111 | 5.35000E-01 112 | 5.40000E-01 113 | 5.45000E-01 114 | 5.50000E-01 115 | 5.55000E-01 116 | 5.60000E-01 117 | 5.65000E-01 118 | 5.70000E-01 119 | 5.75000E-01 120 | 5.80000E-01 121 | 5.85000E-01 122 | 5.90000E-01 123 | 5.95000E-01 124 | 6.00000E-01 125 | 6.05000E-01 126 | 6.10000E-01 127 | 6.15000E-01 128 | 6.20000E-01 129 | 6.25000E-01 130 | 6.30000E-01 131 | 6.35000E-01 132 | 6.40000E-01 133 | 6.45000E-01 134 | 6.50000E-01 135 | 6.55000E-01 136 | 6.60000E-01 137 | 6.65000E-01 138 | 6.70000E-01 139 | 6.75000E-01 140 | 6.80000E-01 141 | 6.85000E-01 142 | 6.90000E-01 143 | 6.95000E-01 144 | 7.00000E-01 145 | 7.05000E-01 146 | 7.10000E-01 147 | 7.15000E-01 148 | 7.20000E-01 149 | 7.25000E-01 150 | 7.30000E-01 151 | 7.35000E-01 152 | 7.40000E-01 153 | 7.45000E-01 154 | 7.50000E-01 155 | 7.55000E-01 156 | 7.60000E-01 157 | 7.65000E-01 158 | 7.70000E-01 159 | 7.75000E-01 160 | 7.80000E-01 161 | 7.85000E-01 162 | 7.90000E-01 163 | 7.95000E-01 164 | 8.00000E-01 165 | 8.05000E-01 166 | 8.10000E-01 167 | 8.15000E-01 168 | 8.20000E-01 169 | 8.25000E-01 170 | 8.30000E-01 171 | 8.35000E-01 172 | 8.40000E-01 173 | 8.45000E-01 174 | 8.50000E-01 175 | 8.55000E-01 176 | 8.60000E-01 177 | 8.65000E-01 178 | 8.70000E-01 179 | 8.75000E-01 180 | 8.80000E-01 181 | 8.85000E-01 182 | 8.90000E-01 183 | 8.95000E-01 184 | 9.00000E-01 185 | 9.05000E-01 186 | 9.10000E-01 187 | 9.15000E-01 188 | 9.20000E-01 189 | 9.25000E-01 190 | 9.30000E-01 191 | 9.35000E-01 192 | 9.40000E-01 193 | 9.45000E-01 194 | 9.50000E-01 195 | 9.55000E-01 196 | 9.60000E-01 197 | 9.65000E-01 198 | 9.70000E-01 199 | 9.75000E-01 200 | 9.80000E-01 201 | 9.85000E-01 202 | 9.90000E-01 203 | 9.95000E-01 204 | 1.00000E+00 205 | 1.00500E+00 206 | 1.01000E+00 207 | 1.01500E+00 208 | 1.02000E+00 209 | 1.02500E+00 210 | 1.03000E+00 211 | 1.03500E+00 212 | 1.04000E+00 213 | 1.04500E+00 214 | 1.05000E+00 215 | 1.05500E+00 216 | 1.06000E+00 217 | 1.06500E+00 218 | 1.07000E+00 219 | 1.07500E+00 220 | 1.08000E+00 221 | 1.08500E+00 222 | 1.09000E+00 223 | 1.09500E+00 224 | 1.10000E+00 225 | 1.10500E+00 226 | 1.11000E+00 227 | 1.11500E+00 228 | 1.12000E+00 229 | 1.12500E+00 230 | 1.13000E+00 231 | 1.13500E+00 232 | 1.14000E+00 233 | 1.14500E+00 234 | 1.15000E+00 235 | 1.15500E+00 236 | 1.16000E+00 237 | 1.16500E+00 238 | 1.17000E+00 239 | 1.17500E+00 240 | 1.18000E+00 241 | 1.18500E+00 242 | 1.19000E+00 243 | 1.19500E+00 244 | 1.20000E+00 245 | 1.20500E+00 246 | 1.21000E+00 247 | 1.21500E+00 248 | 1.22000E+00 249 | 1.22500E+00 250 | 1.23000E+00 251 | 1.23500E+00 252 | 1.24000E+00 253 | 1.24500E+00 254 | 1.25000E+00 255 | 1.25500E+00 256 | 1.26000E+00 257 | 1.26500E+00 258 | 1.27000E+00 259 | 1.27500E+00 260 | 1.28000E+00 261 | 1.28500E+00 262 | 1.29000E+00 263 | 1.29500E+00 264 | 1.30000E+00 265 | 1.30500E+00 266 | 1.31000E+00 267 | 1.31500E+00 268 | 1.32000E+00 269 | 1.32500E+00 270 | 1.33000E+00 271 | 1.33500E+00 272 | 1.34000E+00 273 | 1.34500E+00 274 | 1.35000E+00 275 | 1.35500E+00 276 | 1.36000E+00 277 | 1.36500E+00 278 | 1.37000E+00 279 | 1.37500E+00 280 | 1.38000E+00 281 | 1.38500E+00 282 | 1.39000E+00 283 | 1.39500E+00 284 | 1.40000E+00 285 | 1.40500E+00 286 | 1.41000E+00 287 | 1.41500E+00 288 | 1.42000E+00 289 | 1.42500E+00 290 | 1.43000E+00 291 | 1.43500E+00 292 | 1.44000E+00 293 | 1.44500E+00 294 | 1.45000E+00 295 | 1.45500E+00 296 | 1.46000E+00 297 | 1.46500E+00 298 | 1.47000E+00 299 | 1.47500E+00 300 | 1.48000E+00 301 | 1.48500E+00 302 | 1.49000E+00 303 | 1.49500E+00 304 | 1.50000E+00 305 | 1.50500E+00 306 | 1.51000E+00 307 | 1.51500E+00 308 | 1.52000E+00 309 | 1.52500E+00 310 | 1.53000E+00 311 | 1.53500E+00 312 | 1.54000E+00 313 | 1.54500E+00 314 | 1.55000E+00 315 | 1.55500E+00 316 | 1.56000E+00 317 | 1.56500E+00 318 | 1.57000E+00 319 | 1.57500E+00 320 | 1.58000E+00 321 | 1.58500E+00 322 | 1.59000E+00 323 | 1.59500E+00 324 | 1.60000E+00 325 | 1.60500E+00 326 | 1.61000E+00 327 | 1.61500E+00 328 | 1.62000E+00 329 | 1.62500E+00 330 | 1.63000E+00 331 | 1.63500E+00 332 | 1.64000E+00 333 | 1.64500E+00 334 | 1.65000E+00 335 | 1.65500E+00 336 | 1.66000E+00 337 | 1.66500E+00 338 | 1.67000E+00 339 | 1.67500E+00 340 | 1.68000E+00 341 | 1.68500E+00 342 | 1.69000E+00 343 | 1.69500E+00 344 | 1.70000E+00 345 | 1.70500E+00 346 | 1.71000E+00 347 | 1.71500E+00 348 | 1.72000E+00 349 | 1.72500E+00 350 | 1.73000E+00 351 | 1.73500E+00 352 | 1.74000E+00 353 | 1.74500E+00 354 | 1.75000E+00 355 | 1.75500E+00 356 | 1.76000E+00 357 | 1.76500E+00 358 | 1.77000E+00 359 | 1.77500E+00 360 | 1.78000E+00 361 | 1.78500E+00 362 | 1.79000E+00 363 | 1.79500E+00 364 | 1.80000E+00 365 | 1.80500E+00 366 | 1.81000E+00 367 | 1.81500E+00 368 | 1.82000E+00 369 | 1.82500E+00 370 | 1.83000E+00 371 | 1.83500E+00 372 | 1.84000E+00 373 | 1.84500E+00 374 | 1.85000E+00 375 | 1.85500E+00 376 | 1.86000E+00 377 | 1.86500E+00 378 | 1.87000E+00 379 | 1.87500E+00 380 | 1.88000E+00 381 | 1.88500E+00 382 | 1.89000E+00 383 | 1.89500E+00 384 | 1.90000E+00 385 | 1.90500E+00 386 | 1.91000E+00 387 | 1.91500E+00 388 | 1.92000E+00 389 | 1.92500E+00 390 | 1.93000E+00 391 | 1.93500E+00 392 | 1.94000E+00 393 | 1.94500E+00 394 | 1.95000E+00 395 | 1.95500E+00 396 | 1.96000E+00 397 | 1.96500E+00 398 | 1.97000E+00 399 | 1.97500E+00 400 | 1.98000E+00 401 | 1.98500E+00 402 | 1.99000E+00 403 | 1.99500E+00 404 | 2.00000E+00 405 | 2.00500E+00 406 | 2.01000E+00 407 | 2.01500E+00 408 | 2.02000E+00 409 | 2.02500E+00 410 | 2.03000E+00 411 | 2.03500E+00 412 | 2.04000E+00 413 | 2.04500E+00 414 | 2.05000E+00 415 | 2.05500E+00 416 | 2.06000E+00 417 | 2.06500E+00 418 | 2.07000E+00 419 | 2.07500E+00 420 | 2.08000E+00 421 | 2.08500E+00 422 | 2.09000E+00 423 | 2.09500E+00 424 | 2.10000E+00 425 | 2.10500E+00 426 | 2.11000E+00 427 | 2.11500E+00 428 | 2.12000E+00 429 | 2.12500E+00 430 | 2.13000E+00 431 | 2.13500E+00 432 | 2.14000E+00 433 | 2.14500E+00 434 | 2.15000E+00 435 | 2.15500E+00 436 | 2.16000E+00 437 | 2.16500E+00 438 | 2.17000E+00 439 | 2.17500E+00 440 | 2.18000E+00 441 | 2.18500E+00 442 | 2.19000E+00 443 | 2.19500E+00 444 | 2.20000E+00 445 | 2.20500E+00 446 | 2.21000E+00 447 | 2.21500E+00 448 | 2.22000E+00 449 | 2.22500E+00 450 | 2.23000E+00 451 | 2.23500E+00 452 | 2.24000E+00 453 | 2.24500E+00 454 | 2.25000E+00 455 | 2.25500E+00 456 | 2.26000E+00 457 | 2.26500E+00 458 | 2.27000E+00 459 | 2.27500E+00 460 | 2.28000E+00 461 | 2.28500E+00 462 | 2.29000E+00 463 | 2.29500E+00 464 | 2.30000E+00 465 | 2.30500E+00 466 | 2.31000E+00 467 | 2.31500E+00 468 | 2.32000E+00 469 | 2.32500E+00 470 | 2.33000E+00 471 | 2.33500E+00 472 | 2.34000E+00 473 | 2.34500E+00 474 | 2.35000E+00 475 | 2.35500E+00 476 | 2.36000E+00 477 | 2.36500E+00 478 | 2.37000E+00 479 | 2.37500E+00 480 | 2.38000E+00 481 | 2.38500E+00 482 | 2.39000E+00 483 | 2.39500E+00 484 | 2.40000E+00 485 | 2.40500E+00 486 | 2.41000E+00 487 | 2.41500E+00 488 | 2.42000E+00 489 | 2.42500E+00 490 | 2.43000E+00 491 | 2.43500E+00 492 | 2.44000E+00 493 | 2.44500E+00 494 | 2.45000E+00 495 | 2.45500E+00 496 | 2.46000E+00 497 | 2.46500E+00 498 | 2.47000E+00 499 | 2.47500E+00 500 | 2.48000E+00 501 | 2.48500E+00 502 | 2.49000E+00 503 | 2.49500E+00 504 | 2.50000E+00 505 | 2.50500E+00 506 | 2.51000E+00 507 | 2.51500E+00 508 | 2.52000E+00 509 | 2.52500E+00 510 | 2.53000E+00 511 | 2.53500E+00 512 | 2.54000E+00 513 | 2.54500E+00 514 | 2.55000E+00 515 | 2.55500E+00 516 | 2.56000E+00 517 | 2.56500E+00 518 | 2.57000E+00 519 | 2.57500E+00 520 | 2.58000E+00 521 | 2.58500E+00 522 | 2.59000E+00 523 | 2.59500E+00 524 | 2.60000E+00 525 | 2.60500E+00 526 | 2.61000E+00 527 | 2.61500E+00 528 | 2.62000E+00 529 | 2.62500E+00 530 | 2.63000E+00 531 | 2.63500E+00 532 | 2.64000E+00 533 | 2.64500E+00 534 | 2.65000E+00 535 | 2.65500E+00 536 | 2.66000E+00 537 | 2.66500E+00 538 | 2.67000E+00 539 | 2.67500E+00 540 | 2.68000E+00 541 | 2.68500E+00 542 | 2.69000E+00 543 | 2.69500E+00 544 | 2.70000E+00 545 | 2.70500E+00 546 | 2.71000E+00 547 | 2.71500E+00 548 | 2.72000E+00 549 | 2.72500E+00 550 | 2.73000E+00 551 | 2.73500E+00 552 | 2.74000E+00 553 | 2.74500E+00 554 | 2.75000E+00 555 | 2.75500E+00 556 | 2.76000E+00 557 | 2.76500E+00 558 | 2.77000E+00 559 | 2.77500E+00 560 | 2.78000E+00 561 | 2.78500E+00 562 | 2.79000E+00 563 | 2.79500E+00 564 | 2.80000E+00 565 | 2.80500E+00 566 | 2.81000E+00 567 | 2.81500E+00 568 | 2.82000E+00 569 | 2.82500E+00 570 | 2.83000E+00 571 | 2.83500E+00 572 | 2.84000E+00 573 | 2.84500E+00 574 | 2.85000E+00 575 | 2.85500E+00 576 | 2.86000E+00 577 | 2.86500E+00 578 | 2.87000E+00 579 | 2.87500E+00 580 | 2.88000E+00 581 | 2.88500E+00 582 | 2.89000E+00 583 | 2.89500E+00 584 | 2.90000E+00 585 | 2.90500E+00 586 | 2.91000E+00 587 | 2.91500E+00 588 | 2.92000E+00 589 | 2.92500E+00 590 | 2.93000E+00 591 | 2.93500E+00 592 | 2.94000E+00 593 | 2.94500E+00 594 | 2.95000E+00 595 | 2.95500E+00 596 | 2.96000E+00 597 | 2.96500E+00 598 | 2.97000E+00 599 | 2.97500E+00 600 | 2.98000E+00 601 | 2.98500E+00 602 | 2.99000E+00 603 | 2.99500E+00 604 | 3.00000E+00 605 | 3.00500E+00 606 | 3.01000E+00 607 | 3.01500E+00 608 | 3.02000E+00 609 | 3.02500E+00 610 | 3.03000E+00 611 | 3.03500E+00 612 | 3.04000E+00 613 | 3.04500E+00 614 | 3.05000E+00 615 | 3.05500E+00 616 | 3.06000E+00 617 | 3.06500E+00 618 | 3.07000E+00 619 | 3.07500E+00 620 | 3.08000E+00 621 | 3.08500E+00 622 | 3.09000E+00 623 | 3.09500E+00 624 | 3.10000E+00 625 | 3.10500E+00 626 | 3.11000E+00 627 | 3.11500E+00 628 | 3.12000E+00 629 | 3.12500E+00 630 | 3.13000E+00 631 | 3.13500E+00 632 | 3.14000E+00 633 | 3.14500E+00 634 | 3.15000E+00 635 | 3.15500E+00 636 | 3.16000E+00 637 | 3.16500E+00 638 | 3.17000E+00 639 | 3.17500E+00 640 | 3.18000E+00 641 | 3.18500E+00 642 | 3.19000E+00 643 | 3.19500E+00 644 | 3.20000E+00 645 | 3.20500E+00 646 | 3.21000E+00 647 | 3.21500E+00 648 | 3.22000E+00 649 | 3.22500E+00 650 | 3.23000E+00 651 | 3.23500E+00 652 | 3.24000E+00 653 | 3.24500E+00 654 | 3.25000E+00 655 | 3.25500E+00 656 | 3.26000E+00 657 | 3.26500E+00 658 | 3.27000E+00 659 | 3.27500E+00 660 | 3.28000E+00 661 | 3.28500E+00 662 | 3.29000E+00 663 | 3.29500E+00 664 | 3.30000E+00 665 | 3.30500E+00 666 | 3.31000E+00 667 | 3.31500E+00 668 | 3.32000E+00 669 | 3.32500E+00 670 | 3.33000E+00 671 | 3.33500E+00 672 | 3.34000E+00 673 | 3.34500E+00 674 | 3.35000E+00 675 | 3.35500E+00 676 | 3.36000E+00 677 | 3.36500E+00 678 | 3.37000E+00 679 | 3.37500E+00 680 | 3.38000E+00 681 | 3.38500E+00 682 | 3.39000E+00 683 | 3.39500E+00 684 | 3.40000E+00 685 | 3.40500E+00 686 | 3.41000E+00 687 | 3.41500E+00 688 | 3.42000E+00 689 | 3.42500E+00 690 | 3.43000E+00 691 | 3.43500E+00 692 | 3.44000E+00 693 | 3.44500E+00 694 | 3.45000E+00 695 | 3.45500E+00 696 | 3.46000E+00 697 | 3.46500E+00 698 | 3.47000E+00 699 | 3.47500E+00 700 | 3.48000E+00 701 | 3.48500E+00 702 | 3.49000E+00 703 | 3.49500E+00 704 | 3.50000E+00 705 | 3.50500E+00 706 | 3.51000E+00 707 | 3.51500E+00 708 | 3.52000E+00 709 | 3.52500E+00 710 | 3.53000E+00 711 | 3.53500E+00 712 | 3.54000E+00 713 | 3.54500E+00 714 | 3.55000E+00 715 | 3.55500E+00 716 | 3.56000E+00 717 | 3.56500E+00 718 | 3.57000E+00 719 | 3.57500E+00 720 | 3.58000E+00 721 | 3.58500E+00 722 | 3.59000E+00 723 | 3.59500E+00 724 | 3.60000E+00 725 | 3.60500E+00 726 | 3.61000E+00 727 | 3.61500E+00 728 | 3.62000E+00 729 | 3.62500E+00 730 | 3.63000E+00 731 | 3.63500E+00 732 | 3.64000E+00 733 | 3.64500E+00 734 | 3.65000E+00 735 | 3.65500E+00 736 | 3.66000E+00 737 | 3.66500E+00 738 | 3.67000E+00 739 | 3.67500E+00 740 | 3.68000E+00 741 | 3.68500E+00 742 | 3.69000E+00 743 | 3.69500E+00 744 | 3.70000E+00 745 | 3.70500E+00 746 | 3.71000E+00 747 | 3.71500E+00 748 | 3.72000E+00 749 | 3.72500E+00 750 | 3.73000E+00 751 | 3.73500E+00 752 | 3.74000E+00 753 | 3.74500E+00 754 | 3.75000E+00 755 | 3.75500E+00 756 | 3.76000E+00 757 | 3.76500E+00 758 | 3.77000E+00 759 | 3.77500E+00 760 | 3.78000E+00 761 | 3.78500E+00 762 | 3.79000E+00 763 | 3.79500E+00 764 | 3.80000E+00 765 | 3.80500E+00 766 | 3.81000E+00 767 | 3.81500E+00 768 | 3.82000E+00 769 | 3.82500E+00 770 | 3.83000E+00 771 | 3.83500E+00 772 | 3.84000E+00 773 | 3.84500E+00 774 | 3.85000E+00 775 | 3.85500E+00 776 | 3.86000E+00 777 | 3.86500E+00 778 | 3.87000E+00 779 | 3.87500E+00 780 | 3.88000E+00 781 | 3.88500E+00 782 | 3.89000E+00 783 | 3.89500E+00 784 | 3.90000E+00 785 | 3.90500E+00 786 | 3.91000E+00 787 | 3.91500E+00 788 | 3.92000E+00 789 | 3.92500E+00 790 | 3.93000E+00 791 | 3.93500E+00 792 | 3.94000E+00 793 | 3.94500E+00 794 | 3.95000E+00 795 | 3.95500E+00 796 | 3.96000E+00 797 | 3.96500E+00 798 | 3.97000E+00 799 | 3.97500E+00 800 | 3.98000E+00 801 | 3.98500E+00 802 | 3.99000E+00 803 | 3.99500E+00 804 | 4.00000E+00 805 | 4.00500E+00 806 | 4.01000E+00 807 | 4.01500E+00 808 | 4.02000E+00 809 | 4.02500E+00 810 | 4.03000E+00 811 | 4.03500E+00 812 | 4.04000E+00 813 | 4.04500E+00 814 | 4.05000E+00 815 | 4.05500E+00 816 | 4.06000E+00 817 | 4.06500E+00 818 | 4.07000E+00 819 | 4.07500E+00 820 | 4.08000E+00 821 | 4.08500E+00 822 | 4.09000E+00 823 | 4.09500E+00 824 | 4.10000E+00 825 | 4.10500E+00 826 | 4.11000E+00 827 | 4.11500E+00 828 | 4.12000E+00 829 | 4.12500E+00 830 | 4.13000E+00 831 | 4.13500E+00 832 | 4.14000E+00 833 | 4.14500E+00 834 | 4.15000E+00 835 | 4.15500E+00 836 | 4.16000E+00 837 | 4.16500E+00 838 | 4.17000E+00 839 | 4.17500E+00 840 | 4.18000E+00 841 | 4.18500E+00 842 | 4.19000E+00 843 | 4.19500E+00 844 | 4.20000E+00 845 | 4.20500E+00 846 | 4.21000E+00 847 | 4.21500E+00 848 | 4.22000E+00 849 | 4.22500E+00 850 | 4.23000E+00 851 | 4.23500E+00 852 | 4.24000E+00 853 | 4.24500E+00 854 | 4.25000E+00 855 | 4.25500E+00 856 | 4.26000E+00 857 | 4.26500E+00 858 | 4.27000E+00 859 | 4.27500E+00 860 | 4.28000E+00 861 | 4.28500E+00 862 | 4.29000E+00 863 | 4.29500E+00 864 | 4.30000E+00 865 | 4.30500E+00 866 | 4.31000E+00 867 | 4.31500E+00 868 | 4.32000E+00 869 | 4.32500E+00 870 | 4.33000E+00 871 | 4.33500E+00 872 | 4.34000E+00 873 | 4.34500E+00 874 | 4.35000E+00 875 | 4.35500E+00 876 | 4.36000E+00 877 | 4.36500E+00 878 | 4.37000E+00 879 | 4.37500E+00 880 | 4.38000E+00 881 | 4.38500E+00 882 | 4.39000E+00 883 | 4.39500E+00 884 | 4.40000E+00 885 | 4.40500E+00 886 | 4.41000E+00 887 | 4.41500E+00 888 | 4.42000E+00 889 | 4.42500E+00 890 | 4.43000E+00 891 | 4.43500E+00 892 | 4.44000E+00 893 | 4.44500E+00 894 | 4.45000E+00 895 | 4.45500E+00 896 | 4.46000E+00 897 | 4.46500E+00 898 | 4.47000E+00 899 | 4.47500E+00 900 | 4.48000E+00 901 | 4.48500E+00 902 | 4.49000E+00 903 | 4.49500E+00 904 | 4.50000E+00 905 | 4.50500E+00 906 | 4.51000E+00 907 | 4.51500E+00 908 | 4.52000E+00 909 | 4.52500E+00 910 | 4.53000E+00 911 | 4.53500E+00 912 | 4.54000E+00 913 | 4.54500E+00 914 | 4.55000E+00 915 | 4.55500E+00 916 | 4.56000E+00 917 | 4.56500E+00 918 | 4.57000E+00 919 | 4.57500E+00 920 | 4.58000E+00 921 | 4.58500E+00 922 | 4.59000E+00 923 | 4.59500E+00 924 | 4.60000E+00 925 | 4.60500E+00 926 | 4.61000E+00 927 | 4.61500E+00 928 | 4.62000E+00 929 | 4.62500E+00 930 | 4.63000E+00 931 | 4.63500E+00 932 | 4.64000E+00 933 | 4.64500E+00 934 | 4.65000E+00 935 | 4.65500E+00 936 | 4.66000E+00 937 | 4.66500E+00 938 | 4.67000E+00 939 | 4.67500E+00 940 | 4.68000E+00 941 | 4.68500E+00 942 | 4.69000E+00 943 | 4.69500E+00 944 | 4.70000E+00 945 | 4.70500E+00 946 | 4.71000E+00 947 | 4.71500E+00 948 | 4.72000E+00 949 | 4.72500E+00 950 | 4.73000E+00 951 | 4.73500E+00 952 | 4.74000E+00 953 | 4.74500E+00 954 | 4.75000E+00 955 | 4.75500E+00 956 | 4.76000E+00 957 | 4.76500E+00 958 | 4.77000E+00 959 | 4.77500E+00 960 | 4.78000E+00 961 | 4.78500E+00 962 | 4.79000E+00 963 | 4.79500E+00 964 | 4.80000E+00 965 | 4.80500E+00 966 | 4.81000E+00 967 | 4.81500E+00 968 | 4.82000E+00 969 | 4.82500E+00 970 | 4.83000E+00 971 | 4.83500E+00 972 | 4.84000E+00 973 | 4.84500E+00 974 | 4.85000E+00 975 | 4.85500E+00 976 | 4.86000E+00 977 | 4.86500E+00 978 | 4.87000E+00 979 | 4.87500E+00 980 | 4.88000E+00 981 | 4.88500E+00 982 | 4.89000E+00 983 | 4.89500E+00 984 | 4.90000E+00 985 | 4.90500E+00 986 | 4.91000E+00 987 | 4.91500E+00 988 | 4.92000E+00 989 | 4.92500E+00 990 | 4.93000E+00 991 | 4.93500E+00 992 | 4.94000E+00 993 | 4.94500E+00 994 | 4.95000E+00 995 | 4.95500E+00 996 | 4.96000E+00 997 | 4.96500E+00 998 | 4.97000E+00 999 | 4.97500E+00 1000 | 4.98000E+00 1001 | 4.98500E+00 1002 | 4.99000E+00 1003 | 4.99500E+00 1004 | 5.00000E+00 1005 | -------------------------------------------------------------------------------- /MDHTrans.m: -------------------------------------------------------------------------------- 1 | function MDH=MDHTrans(alp, a, d, th) 2 | MDH= [cos(th) -sin(th) 0 a; 3 | sin(th)*cos(alp) cos(th)*cos(alp) -sin(alp) -sin(alp)*d; 4 | sin(th)*sin(alp) cos(th)*sin(alp) cos(alp) cos(alp)*d; 5 | 0 0 0 1]; 6 | end -------------------------------------------------------------------------------- /NE_dynamic.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zzy5510/adams_simulink_robotarm/143aa99ccf7a386cceae6c1e20c178b7b2e9f354/NE_dynamic.m -------------------------------------------------------------------------------- /PD_control.slx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zzy5510/adams_simulink_robotarm/143aa99ccf7a386cceae6c1e20c178b7b2e9f354/PD_control.slx -------------------------------------------------------------------------------- /PD_control.slxc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zzy5510/adams_simulink_robotarm/143aa99ccf7a386cceae6c1e20c178b7b2e9f354/PD_control.slxc 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详情见https://blog.csdn.net/a735148617/article/details/113316038 -------------------------------------------------------------------------------- /Untitled Diagram.drawio: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | -------------------------------------------------------------------------------- /adams_sys_.slx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zzy5510/adams_simulink_robotarm/143aa99ccf7a386cceae6c1e20c178b7b2e9f354/adams_sys_.slx 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