--
JonathanKarpick - 01 Jun 2004
minor additions 01 Jun MarkCutkosky
Go to bottom of this page for the zipped archive of matlab files. See TrajectoryAnalysis for general explanation of coordinates and a powerpoint presentation.
TrajectoryAnalysis, as deciphered by Jonathan K.:
File description:
trajectory.m - Matlab File that runs the trajectory analysis
riseconfig.m - specifies the geometry of the leg, and saves it to the riseconfig.mat
fourier_fit.m - fits curves to desired
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vs.
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and
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vs.
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trajectories
trajectory.m
- Runs riseconfig.m
- sets physical constants for linkage (see diagram)
- sets constants for radii of the gears in the differential
- sets number of time steps used for a full period of the leg trajectory
- set the time for one cycle of the foot
- specify
vs.
and
vs.
by using two arrays evenly spaced in time - they will be normalized so that a cycle is completed in the time given (from above)
- Runs fourier_fit.m
- generates fourier coefficients for
vs.
- generates fourier coefficients for
vs.
- Computes x and y positions of the foot, in the four-bar plane, for one revolution of
, in num_steps
- Generates a table of
(crank angle) to
(trajectory angle) for later reverse table look-up (does equal steps between 0 and 360 degrees based on num_steps in riseconfig.m
- Estimates
as the distance around the arc by using straight line distances between the points.
-
is then normalized and scaled (by n??)
- Generates equations for
and
based on the fourier fits.
- Generates a
,
matrix based on the above equations, for equal steps in
- Generates a
,
matrix based on the above equations, for equal steps in
- Plots
vs.
and
vs.
- Calculates a time vector using desired
vs
and then scales it to match desired period. Maybe a little more info on this? - jk, 02jun04
-
vs time is determined by linearly interpolating the
vs.
table now that
vs. time is known
- Ditto with
vs. time
- Calcluates
vs. time and
vs time (the motor angles given the differential)
- (Still working on how to label 3-D trajectory with the values of
)
- Plots the 3-D trajectory
Matlab files contained in attached Zip file: