From 6f84824328d5f009f697ac8e7d799e77c287ffb2 Mon Sep 17 00:00:00 2001 From: lxchtschexn <74259508+lxchtschexn@users.noreply.github.com> Date: Tue, 19 Jul 2022 09:30:15 +0200 Subject: [PATCH 1/2] correct some spelling mistakes little changes in comments --- ...our-bar_linkage_model_and_simulation.ipynb | 486 +++++++++--------- 1 file changed, 241 insertions(+), 245 deletions(-) diff --git a/docs/demo_notebooks/modeltools/four-bar_linkage_model_and_simulation.ipynb b/docs/demo_notebooks/modeltools/four-bar_linkage_model_and_simulation.ipynb index b7e9f68..c1b7750 100644 --- a/docs/demo_notebooks/modeltools/four-bar_linkage_model_and_simulation.ipynb +++ b/docs/demo_notebooks/modeltools/four-bar_linkage_model_and_simulation.ipynb @@ -11,17 +11,9 @@ }, { "cell_type": "code", - "execution_count": 1, + "execution_count": 26, "metadata": {}, - "outputs": [ - { - "name": "stderr", - "output_type": "stream", - "text": [ - "Could not find GLIMDA.\n" - ] - } - ], + "outputs": [], "source": [ "%load_ext ipydex.displaytools\n", "%matplotlib inline\n", @@ -34,11 +26,11 @@ "import symbtools as st\n", "import symbtools.modeltools as mt\n", "import symbtools.visualisation as vt\n", - "from symbtools.modeltools import Rz # Rotationsmatrix in the xy plane (c, -s; s, c)\n", + "from symbtools.modeltools import Rz # rotation matrix in the xy plane (c, -s; s, c)\n", "import scipy.integrate as sc_integrate\n", "import matplotlib.pyplot as pl\n", - "from assimulo.solvers import IDA # Imports the solver IDA from Assimulo\n", - "from assimulo.problem import Implicit_Problem # Imports the problem formulation from Assimulo\n", + "from assimulo.solvers import IDA # imports the solver IDA from Assimulo\n", + "from assimulo.problem import Implicit_Problem # imports the problem formulation from Assimulo\n", "import ipydex\n", "plt = pl\n", "\n", @@ -47,12 +39,12 @@ }, { "cell_type": "code", - "execution_count": 2, + "execution_count": 27, "metadata": {}, "outputs": [ { "data": { - "image/png": "iVBORw0KGgoAAAANSUhEUgAAAEYAAAAZCAYAAACM9limAAAACXBIWXMAAA7EAAAOxAGVKw4bAAACaElEQVRYCe2ZgU3DMBBFk4oBUEdoNyhiAugGFRsAGxQxAQobdAXaDVomKLBBO0LLBuX91BeZKE5IBQ1Sc9L1fPbZPv/c2U4aR1E0h3uw0XC3261NOQUZx/E165x4a53FKCuA6HuVJ10EJAVJ0jlpFEoW3wITAKcFpgUmgECguo2YFpgAAoHqs0B95M72Ie0D+B4+h3Xeiy7hW475z1Rr4OcY/ukeE+WZtSaqg6bwCh6ZDeUEnpvehJQPf+Ef4/bgaeEe4y45SwxEMvzAiVmq7X8ElEVPWkOfAfzu2fxZsa5/2CfwBJ47qegvpVAqbTwglEpPuVHSmzKTaAIBp1TrwpUTYvMbVMe/RyacsJ70NQeflQGv8EWVI4Wp5MJUUaF8OpdujK73q63pznZEXXAs3/a3ysxX6Z98gns2J2U9aK0pq7M2SdXDxamkVkfafNd0yDZZFyVy6MWMGpQ/9U+LNbK1+HXWlslQKpmBAFiY4uQNUoM/5OqbUCv946HmX5AVMaK3vSj+rQJGg2ysK9EiXSfSlR9F1t6APMQ/+f9Q5X8QGEDQ0xBpRx/vi5HQv2DQxr/XHOIffQTKAv+f3XqCIggMPSx/lUr5dAoOeMSGWv4Byh2+6RDRCVpJnRILRcx/BMRc/rF/Lrr6Bop02PYaG++bLASGTrqPqKOO5TrUrWN8qG0d/xwASqEl5ZGYsg6Oyu3g292DDul9BKlDXTfZMUhnd5h8mXYde/peqvuC+ugCVdonP0YdnbHr+rd1fsm3jENzYqP1TNtvvqDgExElYNpvvj4ofrlwj/ENTrWcplJu8e3/SnxN+ALNrn9P3MjKlgAAAABJRU5ErkJggg==\n", + "image/png": "iVBORw0KGgoAAAANSUhEUgAAAEYAAAAZCAYAAACM9limAAAACXBIWXMAAA7EAAAOxAGVKw4bAAACWUlEQVRYCe2Z7U3DMBCG06oDVLBB2YCKCaAbIJig7QZE/dX+Q7BBGaEwAkwA7QZ0BNQReJ/URm4a50MoTaTkpKvvHNu5e30+22lnPp+/BkFwKbY0WiwWW6s0oZS/D/Jz6vgadgTMWg+GTmWjRWExAYBuo1FIcb4FxgNOC0wLjAcBT3UbMS0wHgQ81T1PfaBti7PNjfhKPBYPjH5u5LHa7CRXQmXbl7aU7vXyZ+P1h8oBujiUzAGQg2GVVKp9icCY2fg0XhMpW9W9OSh8SyaaKqFT2OdbSgCxMV6zpB5jCPTR1aYv3lFKvRNPJZ/iFJ3bPuwUzfZFlA4QM9NAIjA4S2+VNire0R0aSQYQ2OYiHkeAOe1KEXkvA6vMY99S7f7uQZKX6roWXzCGjxKXktMYAJidyBCnHoNW6Hq2EZOLqrh4ZtonuyayzwKIyU9i8qV7cab+gLKAYcCDaNGAXLIAiiRcNeWxj2j5Kmpoz9dBALAsQPXHtlEdiRhAriXHo8g2O0mZ1z61e4kZBFBujoo93qteYPSY2YBCDc73CogzTF2+1xS2T34w0bfizA0iDRjWL/mD3cnuUBJrQ4Xskx9EO/llKDkz2tOAYUbcs0ttEDGG5LbPgELkA2ZgdErvhpEIjDqQX0DYHvIYrzZUxD61xQ+2aICxOxF5JnXz6Ma9VWfWIFcAaCY9+tS3V49/ebGYEOUQFcnSbU467vDPGo1dyD69jjML0UVpmS08dTm133yFlksCrP3m6wISl4+WUrxBU/Uo+Sp8uC1bqss5xdpTein/3f+VzvTC8Bc5F+3bCPBLSgAAAABJRU5ErkJggg==\n", "text/latex": [ "pp.T := $\\displaystyle \\left[\\begin{matrix}p_{1} & p_{2}\\end{matrix}\\right]$" ], @@ -64,15 +56,17 @@ "output_type": "display_data" }, { - "name": "stdout", - "output_type": "stream", - "text": [ - "---\n" - ] + "data": { + "text/plain": [ + "---" + ] + }, + "metadata": {}, + "output_type": "display_data" }, { "data": { - "image/png": "iVBORw0KGgoAAAANSUhEUgAAABwAAAAZCAYAAAAiwE4nAAAACXBIWXMAAA7EAAAOxAGVKw4bAAABfUlEQVRIDe2W4VHDMAyFY44BeoyQEboC7QZlBdgAZugIhRHCBmUDjmxQVoANwvdcO2eCHadJyg8O3b1YtmPJepacmKIo9qAEXtZN07z7zpTWGLNi/S6w8Sz9gIPi3MCPgqou5PE35d/h7Gz/fUovc5xRS0rnO3AAC/AIbkFNKb3QnizJOsSSCvcDlL5O0SvQgIUfG9LKhtYmz5DIFI2MP2Cwe/Mouk/mrPDuErz5fl/bR+mWhYpCFIaiqO2YHKGL7iugDQ6SKKWsFJX7kC76okV0rjrjG8aidvx7bm2cUkendlyDUBSd7t1RyaK1yTPUJPJ6bNrnDVp3E+3kECXqkAiUEDIsCq0QtUpBEY6OTob6kuaa+Scc3etFxGeqvp+jJenQRSkKrbgIJ52fDEUpPbr48VwzMun8ZPEUh7nzUy1mJesQKrdAt4jKZIPe/qOgl65vLwn0CvgzTzrvLVhfuFNbvCvj44Wf3NoME1lKZ/DxzYShp+9cKOf8L62/ACQhVnpeB+lQAAAAAElFTkSuQmCC\n", + "image/png": "iVBORw0KGgoAAAANSUhEUgAAABwAAAAZCAYAAAAiwE4nAAAACXBIWXMAAA7EAAAOxAGVKw4bAAABkElEQVRIDe2W0U3DMBRFE9QBKtigI9AV6AaFEegGzWfyh8oGwAiwAd0A0Q1gA6SOwLmuXZnIduJG5aPqk5xn+9n3+l07Tsq6rl+LorimOJs1TfPtGkM8OEvmLzyMqoTwk8DU6zxKFY57AV8cBT0BeiZMiHNY6PQlHXUJw3GeMGZF+aBcUR4oOuJrYht8liUJAbwB7Ymyvwzo00Uxx5dZTHZwdA8BHDNG4Cvq7ZsnOzO3uFSGknEM2bMbbL2uwTfXZxd2R3tBvfPGShEKZO2A5QHUfqq827bIJbtMinRakNCuWgAG2EMx4MTNQvCSdoOfe2OS1ege2lntvbsVQRKxIxgkZMVb5ikLyWeMPr0KyvCPzLto/2dQUjtd2bxApG+azGXblnkX7fmMEtosRWrMZljgB2UYlNSRtPyM9qD9E14O4eD9E2FUUgVlSKgLQGR6TXSlqa+iLq9DpX8WxSe0NfYH/4gPWh9CAx6aDbAOUjQempMjaWh+dt+/ExpJkebLW+r+U+T1HVQF1/8vvQSk+gW6O2rTlevyIwAAAABJRU5ErkJggg==\n", "text/latex": [ "qq.T := $\\displaystyle \\left[\\begin{matrix}q_{1}\\end{matrix}\\right]$" ], @@ -84,15 +78,17 @@ "output_type": "display_data" }, { - "name": "stdout", - "output_type": "stream", - "text": [ - "---\n" - ] + "data": { + "text/plain": [ + "---" + ] + }, + "metadata": {}, + "output_type": "display_data" }, { "data": { - "image/png": "iVBORw0KGgoAAAANSUhEUgAAAB4AAAAZCAYAAAAmNZ4aAAAACXBIWXMAAA7EAAAOxAGVKw4bAAABeklEQVRIDe2W4VHDMAyFE44BemxA2KBcJ4BuUFaADegxQkdgBcIGZQOgG5QV6Abhezmb0xnbDWkCP0B3r5FlSU9ybDdlURRrUAEv86Zp3vxgiGdZlpfkuTe5HksGW4jOjHFUlSLU5OpoVJZM8n/izOIMO/X3lvp43wK67b/EbwcmYAvuwCnHULZekiV2B78m87m/VLC9Mp4cQqpKk+8YAnUn0qUnVQDyAp5aLfghZuoKC2a+DnMdr3AX+UMQFl5/hQjxuQEnQDGdRFdmEYLId7C2dsZK2oCptXsd+wJE8xmfCp86utRumUWyAVbUrYoM7dankx4lNpHPRpeq5WxJKW4BVH0viRLT0Y5sIvhMDMm1G/u/zBl+Xv82eZTYZbngOYPwFmijaTfPNScbD/2P95bkrnZdX0Uyx2wRt7wp13E+8sDZMYh1lvfKIMS88wrom6q9dNBrtw+SBSTfcTIiMuF2t45aZxmk485sxvHXiNvPW1OI1J/4rt58AAEyj+nC8mMjAAAAAElFTkSuQmCC\n", + "image/png": "iVBORw0KGgoAAAANSUhEUgAAAB4AAAAZCAYAAAAmNZ4aAAAACXBIWXMAAA7EAAAOxAGVKw4bAAABdklEQVRIDe2W4U3DMBCFXcQAFWzQEWCFdoPCCHSD5mfyt2wATIBgAxiBdoN2g0qMwPdap3It2wluqvyAk04+n5P37Gf7kkFZlm/GmBu8tklVVZu600UL3hycmYNVDCBeMnDrJM8awvUggouzsiTA/4kT4nQ79PekvmwSkOM/4pkFrru9xd/xKflH2mxLSg34GOQlXhDLRfaEL4iHtNkWJbbAqmoidCuZ4g2572xWXkxJLXmHEDx7BFJBch+Zneg9yRlxYyVMEQvk00W34NrzDy+vWq8JyVptQZDYEgjgiIC+JmMY9ye0Ir0iP9V4G4vusX3Z3VulJrhIRK6TrdVnWZAYQB0creoALCL6kvQLl530+QxKvcc1d7QvEOpbeo2/4lqxrpJyulbZFiW2qxa5b6Gc/0xjPyh141sdPNAbcVTq3yyKbdEh1D/VGB/RV/HZ0kbreVfEunYF3tp6k7o34p3U7MXa0eikwuDgHELwde/r/+or4uIHDD5pYHYtoJkAAAAASUVORK5CYII=\n", "text/latex": [ "aa.T := $\\displaystyle \\left[\\begin{matrix}a_{1}\\end{matrix}\\right]$" ], @@ -104,15 +100,17 @@ "output_type": "display_data" }, { - "name": "stdout", - "output_type": "stream", - "text": [ - "---\n" - ] + "data": { + "text/plain": [ + "---" + ] + }, + "metadata": {}, + "output_type": "display_data" }, { "data": { - "image/png": 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+ "image/png": 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"text/latex": [ "ttheta.T := $\\displaystyle \\left[\\begin{matrix}p_{1} & p_{2} & q_{1}\\end{matrix}\\right]$" ], @@ -124,15 +122,17 @@ "output_type": "display_data" }, { - "name": "stdout", - "output_type": "stream", - "text": [ - "---\n" - ] + "data": { + "text/plain": [ + "---" + ] + }, + "metadata": {}, + "output_type": "display_data" }, { "data": { - "image/png": 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+ "image/png": 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"text/latex": [ "tthetad.T := $\\displaystyle \\left[\\begin{matrix}\\dot{p}_{1} & \\dot{p}_{2} & \\dot{q}_{1}\\end{matrix}\\right]$" ], @@ -144,15 +144,17 @@ "output_type": "display_data" }, { - "name": "stdout", - "output_type": "stream", - "text": [ - "---\n" - ] + "data": { + "text/plain": [ + "---" + ] + }, + "metadata": {}, + "output_type": "display_data" }, { "data": { - "image/png": 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+ "image/png": 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"text/latex": [ "tthetadd.T := $\\displaystyle \\left[\\begin{matrix}\\ddot{p}_{1} & \\ddot{p}_{2} & \\ddot{q}_{1}\\end{matrix}\\right]$" ], @@ -164,11 +166,13 @@ "output_type": "display_data" }, { - "name": "stdout", - "output_type": "stream", - "text": [ - "---\n" - ] + "data": { + "text/plain": [ + "---" + ] + }, + "metadata": {}, + "output_type": "display_data" } ], "source": [ @@ -196,12 +200,11 @@ "metadata": {}, "outputs": [], "source": [ - "params = sp.symbols('s1, s2, s3, m1, m2, m3, J1, J2, J3, l1, l2, l3, l4, kappa1, kappa2, g')\n", + "params = sp.symbols('s1, s2, s3, m1, m2, m3, J1, J2, J3, l1, l2, l3, l4, g')\n", "parameter_values = list(dict(s1=1/2, s2=1/2, s3=1/2, m1=1, m2=1, m3=3, J1=1/12 , J2=1/12, J3=1/12,\n", - " l1=0.8, l2=1.5, l3=1.5, l4=2, kappa1=3/2 , kappa2=14.715, g=9.81).items())\n", + " l1=0.8, l2=1.5, l3=1.5, l4=2, g=9.81).items())\n", "st.make_global(params)\n", "\n", - "# ttau = sp.symbols('tau')\n", "tau1, tau2 = ttau = st.symb_vector(\"tau1, tau2\")\n" ] }, @@ -212,7 +215,7 @@ "outputs": [ { "data": { - "image/png": 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"text/latex": [ "$\\displaystyle \\left[\\begin{matrix}\\cos{\\left(q_{1} \\right)} & - \\sin{\\left(q_{1} \\right)}\\\\\\sin{\\left(q_{1} \\right)} & \\cos{\\left(q_{1} \\right)}\\end{matrix}\\right]$" ], @@ -228,7 +231,7 @@ } ], "source": [ - "Rz(q1) # Rotationsmatirx" + "Rz(q1) # rotation matrix" ] }, { @@ -245,7 +248,7 @@ "outputs": [ { "data": { - "image/png": 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"text/latex": [ "S1 := $\\displaystyle \\left[\\begin{matrix}s_{1} \\cos{\\left(q_{1} \\right)}\\\\s_{1} \\sin{\\left(q_{1} \\right)}\\end{matrix}\\right]$" ], @@ -259,15 +262,17 @@ "output_type": "display_data" }, { - "name": "stdout", - "output_type": "stream", - "text": [ - "---\n" - ] + "data": { + "text/plain": [ + "---" + ] + }, + "metadata": {}, + "output_type": "display_data" }, { "data": { - "image/png": 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+ "image/png": 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"text/latex": [ "G1 := $\\displaystyle \\left[\\begin{matrix}l_{1} \\cos{\\left(q_{1} \\right)}\\\\l_{1} \\sin{\\left(q_{1} \\right)}\\end{matrix}\\right]$" ], @@ -281,15 +286,17 @@ "output_type": "display_data" }, { - "name": "stdout", - "output_type": "stream", - "text": [ - "---\n" - ] + "data": { + "text/plain": [ + "---" + ] + }, + "metadata": {}, + "output_type": "display_data" }, { "data": { - "image/png": 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anOKHGYYBjlHFHwYZwiuzat8qQ1WWBfH7xbIUZPXu9Sf6ObTkbAjgDKjvgyBDdHiHtfDvRDaXbW+jVgCFZVMMvYTOTLB/GKSYhMsiLqm/spRPj12y4NCz738wRx2rnVkBnKQDOJLGnrFL4MQk4ByA2wLwyGltL6j04cRksrO7S+DeSiAe32LUjPczyzF7CA4hXBhzem1R7tEugV0CK5IA515ufBObMf4/qiiYHRNbBGcAAAAASUVORK5CYII=\n", "text/latex": [ "S2 := $\\displaystyle \\left[\\begin{matrix}l_{1} \\cos{\\left(q_{1} \\right)} + s_{2} \\cos{\\left(p_{1} + q_{1} \\right)}\\\\l_{1} \\sin{\\left(q_{1} \\right)} + s_{2} \\sin{\\left(p_{1} + q_{1} \\right)}\\end{matrix}\\right]$" ], @@ -303,15 +310,17 @@ "output_type": "display_data" }, { - "name": "stdout", - "output_type": "stream", - "text": [ - "---\n" - ] + "data": { + "text/plain": [ + "---" + ] + }, + "metadata": {}, + "output_type": "display_data" }, { "data": { - "image/png": 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BAAAAAElFTkSuQmCC\n", "text/latex": [ "G2 := $\\displaystyle \\left[\\begin{matrix}l_{1} \\cos{\\left(q_{1} \\right)} + l_{2} \\cos{\\left(p_{1} + q_{1} \\right)}\\\\l_{1} \\sin{\\left(q_{1} \\right)} + l_{2} \\sin{\\left(p_{1} + q_{1} \\right)}\\end{matrix}\\right]$" ], @@ -325,15 +334,17 @@ "output_type": "display_data" }, { - "name": "stdout", - "output_type": "stream", - "text": [ - "---\n" - ] + "data": { + "text/plain": [ + "---" + ] + }, + "metadata": {}, + "output_type": "display_data" }, { "data": { - "image/png": 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+ "image/png": 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"text/latex": [ "G2b := $\\displaystyle \\left[\\begin{matrix}l_{3} \\cos{\\left(p_{2} \\right)} + l_{4}\\\\l_{3} \\sin{\\left(p_{2} \\right)}\\end{matrix}\\right]$" ], @@ -347,15 +358,17 @@ "output_type": "display_data" }, { - "name": "stdout", - "output_type": "stream", - "text": [ - "---\n" - ] + "data": { + "text/plain": [ + "---" + ] + }, + "metadata": {}, + "output_type": "display_data" }, { "data": { - "image/png": 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+ "image/png": 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"text/latex": [ "S3 := $\\displaystyle \\left[\\begin{matrix}l_{4} + s_{3} \\cos{\\left(p_{2} \\right)}\\\\s_{3} \\sin{\\left(p_{2} \\right)}\\end{matrix}\\right]$" ], @@ -369,15 +382,17 @@ "output_type": "display_data" }, { - "name": "stdout", - "output_type": "stream", - "text": [ - "---\n" - ] + "data": { + "text/plain": [ + "---" + ] + }, + "metadata": {}, + "output_type": "display_data" }, { "data": { - "image/png": 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giY0N7Dm7DqymguHUMSahivqUVcKqzYLKqpzY1KlIFga98xTICuTlEURWNtRJR+NlwT9UN7OanIBTqh14gmXmMMUTDoFOOFud1W5YcgcfnVb7gJXBvsThOvZS9kIu50AYPAh+2kXK/3+7spf0YXiWfpCRMLObrhnswKqTDZqisJNNWmIMXWDHmiGIMelu2Y9pd2mjJR8nizHhEFn8/uNw56ct5e3i+lZjLtgqMcCQEs+28qKyKJr7PGwz3VPEIoCQz064QQKSPQLO6IB3Kw/py1mZ4Uc8rnWIGK+sjNzgHaPZKz1oL8nCf3H78jAAE95fHOa/PdrL4xAZWbG5TmxWJ0rDbn95dM1Pd8QYsrXCWRBjvrKt3DjT4MQJ2lPHWGmfsvppZTPb/MWhtVOho7oZO6uMrYFBbLYUllHYXmI7wzicrRVnlGOAx5ix4PbpXT7bS0tH4/JyjsgzDXg5BSrS5NqLlSIOPsZnz/ZCRt9Boj4GMGSJDmIQNQy1MYYorXCWxJicxVPxxpbbc+Er1Y+uGsbW+lRLm9H2FFo7FRjhvYszHf+buNp28szW45em3uUAQVrNALAPtgDsgEre5NTEH44vNGiV8JOz7C+pr5Q2aS/JCPj5O+W17bWu7OUpgcHItxnXyMRfbuNYugk7YgwZW+IsijFwpQhv3wlrbkIas8mVwFhBn2pps8kGt6ezNidsUTFz/0lAOWYWSGdnZfJIBsBpcM1NPR4RBaAMDO5+C0tjnhp5rMjgsUx/btPdHi7A/EH1xG5gA+yXiqHwoxJfqTyzK4LbtlrrDBfU4d/7Sob3FiFpL8mJ0+RGttNdjMcu7SX+cfgE7sc5m4EjtlSd7QxBRz97YAzxWuEsiTFP7zh6PmzKY9/uAQsv24wB3Y0JpRgTfW6fQvZWNvP1bs6bvqciQETfeRF33FSevbuQom+VB4+K03soMT5EA0CUfSiz0ldlpQ3Fo/Rh29n8TkSId9IUGJDNex7edbP3n2J8Wt6C9oJ/xWz9inbVZik+XJ6tp4pNVNdRGLP6ORpnTrYaR8nERHE2TukaHgFe9B2xGm1vrUN8HY0x1ZHdp0Tb3Gbigcl7F++piI9kuJPM7SOTwShnpcVNyNQ+8JqszOJiq6JcTbAdGJrZ5ZY/oNNsCjChg3fMHIk6Rx+9zu5j9qITL7dLlZQMazZLFraZNW1yLMZgqQbOcuTOotHAzsr2syJHF8AY1109POGY0/EojG3oU13ZbDYD2OqZa5aTQfC6DJ54e2YjbFdVmcnV5NOvS/yxpZVcrSgfXU+zecpTRnFVVtEwW9v8Jr3Pa+1z8YVcCDOLtdupWZ94ndlL1+gX/qe36GPtiSbLZrHye6aLt80Ygy+FLnEmvtzEhW1JBmzGhGR/21PPOXWLv2Mwlt2n1E4XNhMf2Ai+zU+X2xQ5huuFRnpkoJl9xsPxpnQ6AS9r0WtxlPyZV3TbL5SnMjOAhmhGWr5Opc/JXjo321g6Yh/s1PUEJmRn8Xw0xqhXYeCssG+G7GF1eSkY68Vm4sM4Fd7nwLPwZEtqW0YkI6xpQEtWQPRAujRvy6/R5+arXvbJeaKq1+2kXFG6otvLXl0JWcDMwFmBsjJJ98ZYTzYTLziVt8OpZIJjkA0NDA0MDQwNxDXgnMptS8J/jfjUszeK/YxxPjQwNDA0MDQwNCCfwb0cdmdcMOdupUKmH3jBKOdpJr/MOB8aGBoYGhgauCYakFPhPp57n8tJff4/HneQ9ST1IKEAAAAASUVORK5CYII=\n", + "image/png": 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CHd2kPYLQw+jfeQtn0sbUHh25saQYB0/fH3u8vUjl525ji8aUZ35SZz0hZboo6lTEE5MeL/T1VvG6ZnAzwX2xgG92M3h22jDQUMqPCmGyU96pgd0HTi6A6GFCIuD4DrpeyitO4Yq2Y5DiW/nIh7dwlzhc6yqqLxU+Eb5XCsYr8ieP40SbqA2HxVXpS3Q6mSo2R2y8GL0cyWCr1FuqM4dDbaO2qPwtOslhY9A7aWdeFlOnCI73BT8pGxs6+TvC+W4C79namGS7ZkxN6mxCXrsU39oFy3ok4exUQlyy2un1qLZM0gfFHDPx38rcq2AAu4mNsoyAYR/RLhrIIzjn0enfTVoqH05anSqjSXBODaZRBBsKU/pC1qmd3lF34r06fXWIhEdWxFedPJLo7edBXtHLjDYGX6XsLGpj4pVFJs7cwBaPdt2LVffcbWzRmPLMl9JZT/alnQoD1SZddhlrgS1z74U+GRXbZI5p7q1FOrMduyxnwIn6vV2Y6nC81B0ciWbJbFYjQ5zJyjsXRPWFrBW6kzADonucNCSjZn3BY8/hizdsC/6yfTFhKKCF10N72GpjdF/KzqI2ZvKQLp4qcLT6QvHwWNmqEZ+1jcGbwpIxBc+ldEbfAUo7FQhh8sHDvg1UrUvwmRTwdIHr3gSh62Ed6qOMtYCD4KZhD7xB0HdwOMpjcjqatHoNpy/Y0m9xStM9jNcY1Zd4ZDCzipw6FqlKX7As2rEN6O/qjDTO5IHKrxRXA56eHDYGjyXtLGlj4plj2wcKPE0ZHpyA4AhcCxsTn3PHVEmdBfFfhFSZBCtaVlUYyJZVIIOdVQvHXYoc3NEv91UwUJTCTsjtWnTN0zKPFZgwyKec83LynyuQD20AhsmHIqEzBi+VSbsY0OYntTXjtxWl7c5ibabycEpG21TdvctH9SU+kRv3U3hMe2wCrlVfyBbgGNV0hh2Fx8FdaV0/OWwMDkvZ2aiNQRi2pcB8wSP/qXe9roWNib+5YwrRlNIZfQe4CKkCCQlsbPs6myIMS5WHO5LQXuWs7GNOYSx/+IRTwNdNgFvhoHB0U1p5GHboV9fuiE5xktYu7mFa7TCww9r2Q3xLr9VvUl+eNiZjzsQP/prYHGnoTnlV6ksEQrud3ZfcDQZZTSUky11tjP6Es5idqe8jG1Pepcj6R4HdoukFvgEWipbnMvhRvbO3MfGAHuaOqWI6C0L3iVvDjHa9SgKszufsHtyktaqH941YndHXFmAw2oDcgie09cb/QhkvlMa5svOD1nehUl2JlL5Y6a1y+BvZ21MnW20MVvaws40i+dBc9oR8sKXuAgVdkV/VwxOix2CTja0YU9XorPj/qZgGurEXKJM0hsMExTnqW+UTVwmijSMtXtTsGn6PVpX9qwxuwGEADpRmhTHJq6/HpO12Ar55FZFogq/LITHKX/PFgCGaLNeiracvXUM/fPAexeguVeWzdJaF8Amkom21jYHa81adnYku5oGvFOze632lWcUnx5vKi4Jo22Jjs8dULToTHZzEPLooKvVE595QwsSbqFZbNsdc3Fs5mvTFD6sWHCQTF59nOSg4/hQzKObwyk5gzm5I1U4L4iH6AtppqVjcW9CX6OfBAu6tAdxDu61wdAzzvthNvHN1Zk2yx6J3DxuDzirtTPxxxHV0zJVdsNs62GJjS8ZUVTqrcqeyTY/lWsvwWcHiNHbdUQkfN42nvkFWjvEz7TmXvs5UHIdmZ/trLreN1aQz0eJ2Ks2p7G9HDWOTQJNAk8CNk4A5FTv+4rMdvTNxXV/dOKk0hpsEmgSaBJoEZklg6DPUyPkQe/qLMzluDFngfLZBk0CTQJNAk0CTQEoC3EM2n0Hs/Mb/AQN0IkUxDjamAAAAAElFTkSuQmCC\n", "text/latex": [ "constraints := $\\displaystyle \\left[\\begin{matrix}l_{1} \\cos{\\left(q_{1} \\right)} + l_{2} \\cos{\\left(p_{1} + q_{1} \\right)} - l_{3} \\cos{\\left(p_{2} \\right)} - l_{4}\\\\l_{1} \\sin{\\left(q_{1} \\right)} + l_{2} \\sin{\\left(p_{1} + q_{1} \\right)} - l_{3} \\sin{\\left(p_{2} \\right)}\\end{matrix}\\right]$" ], @@ -391,24 +406,25 @@ "output_type": "display_data" }, { - "name": "stdout", - "output_type": "stream", - "text": [ - "---\n" - ] + "data": { + "text/plain": [ + "---" + ] + }, + "metadata": {}, + "output_type": "display_data" } ], "source": [ - "# uni vectors\n", - "\n", + "# unit vectors\n", "ex = sp.Matrix([1, 0]) \n", "ey = sp.Matrix([0, 1]) \n", "\n", - "# Basis 1 und 2\n", + "# base 1 and 2\n", "B1 = sp.Matrix([0, 0])\n", "B2 = sp.Matrix([l4, 0])\n", "\n", - "# Coordinates two link manipulator\n", + "# coordinates of the two link manipulator\n", "S1 = Rz(q1)*ex*s1 ##:\n", "\n", "G1 = Rz(q1)*ex*l1 ##:\n", @@ -418,7 +434,7 @@ "G2 = G1 + Rz(q1 + p1)*ex*l2 ##:\n", "\n", "\n", - "# one link manipulator\n", + "# coordinates of the one link manipulator\n", "G2b = B2 + Rz(p2)*ex*l3 ##:\n", "\n", "S3 = B2 + Rz(p2)*ex*s3 ##:\n", @@ -426,7 +442,7 @@ "constraints = sp.Matrix([G2 - G2b]) ##:\n", "\n", "\n", - "# Time derivative\n", + "# time derivative\n", "Sd1, Sd2, Sd3 = st.col_split(st.time_deriv(st.col_stack(S1, S2, S3), ttheta))" ] }, @@ -437,40 +453,42 @@ "outputs": [ { "data": { - "image/png": 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\n", + "image/png": 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\n", "text/latex": [ "T := $\\displaystyle \\frac{J_{1} \\dot{q}_{1}^{2}}{2} + \\frac{J_{2} \\left(\\dot{p}_{1} + \\dot{q}_{1}\\right)^{2}}{2} + \\frac{J_{3} \\dot{p}_{2}^{2}}{2} + \\frac{m_{1} \\dot{q}_{1}^{2} s_{1}^{2} \\sin^{2}{\\left(q_{1} \\right)}}{2} + \\frac{m_{1} \\dot{q}_{1}^{2} s_{1}^{2} \\cos^{2}{\\left(q_{1} \\right)}}{2} + \\frac{m_{2} \\left(- l_{1} \\dot{q}_{1} \\sin{\\left(q_{1} \\right)} - s_{2} \\left(\\dot{p}_{1} + \\dot{q}_{1}\\right) \\sin{\\left(p_{1} + q_{1} \\right)}\\right)^{2}}{2} + \\frac{m_{2} \\left(l_{1} \\dot{q}_{1} \\cos{\\left(q_{1} \\right)} + s_{2} \\left(\\dot{p}_{1} + \\dot{q}_{1}\\right) \\cos{\\left(p_{1} + q_{1} \\right)}\\right)^{2}}{2} + \\frac{m_{3} \\dot{p}_{2}^{2} s_{3}^{2} \\sin^{2}{\\left(p_{2} \\right)}}{2} + \\frac{m_{3} \\dot{p}_{2}^{2} s_{3}^{2} \\cos^{2}{\\left(p_{2} \\right)}}{2}$" ], "text/plain": [ - "T := 2 2 2 2 2 2 2 2 2 \n", + "T := 2 2 2 2 2 2 2 2 2 \n", "J₁⋅q̇₁ J₂⋅(ṗ₁ + q̇₁) J₃⋅ṗ₂ m₁⋅q̇₁ ⋅s₁ ⋅sin (q₁) m₁⋅q̇₁ ⋅s₁ ⋅cos (\n", - "─────── + ─────────────── + ─────── + ──────────────────── + ─────────────────\n", - " 2 2 2 2 2 \n", + "────── + ───────────── + ────── + ─────────────────── + ─────────────────── + \n", + " 2 2 2 2 2 \n", "\n", - " 2 \n", + " 2 \n", "q₁) m₂⋅(-l₁⋅q̇₁⋅sin(q₁) - s₂⋅(ṗ₁ + q̇₁)⋅sin(p₁ + q₁)) m₂⋅(l₁⋅q̇₁⋅cos(q₁)\n", - "─── + ─────────────────────────────────────────────────── + ──────────────────\n", - " 2 \n", + "──────────────────────────────────────────────── + ───────────────────────────\n", + " 2 2 \n", "\n", - " 2 2 2 2 2 2 2 \n", + " 2 2 2 2 2 2 2 \n", " + s₂⋅(ṗ₁ + q̇₁)⋅cos(p₁ + q₁)) m₃⋅ṗ₂ ⋅s₃ ⋅sin (p₂) m₃⋅ṗ₂ ⋅s₃ ⋅cos (p₂)\n", - "──────────────────────────────── + ──────────────────── + ────────────────────\n", - " 2 2 2 " + "──────────────────── + ─────────────────── + ───────────────────\n", + " 2 2 " ] }, "metadata": {}, "output_type": "display_data" }, { - "name": "stdout", - "output_type": "stream", - "text": [ - "---\n" - ] + "data": { + "text/plain": [ + "---" + ] + }, + "metadata": {}, + "output_type": "display_data" }, { "data": { - "image/png": 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+ "image/png": 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"text/latex": [ "V := $\\displaystyle g m_{1} s_{1} \\sin{\\left(q_{1} \\right)} + g m_{2} \\left(l_{1} \\sin{\\left(q_{1} \\right)} + s_{2} \\sin{\\left(p_{1} + q_{1} \\right)}\\right) + g m_{3} s_{3} \\sin{\\left(p_{2} \\right)}$" ], @@ -482,11 +500,13 @@ "output_type": "display_data" }, { - "name": "stdout", - "output_type": "stream", - "text": [ - "---\n" - ] + "data": { + "text/plain": [ + "---" + ] + }, + "metadata": {}, + "output_type": "display_data" } ], "source": [ @@ -522,7 +542,7 @@ { "data": { "text/plain": [ - "" + "" ] }, "execution_count": 7, @@ -533,7 +553,6 @@ "source": [ "# useful to test recent development of the lib\n", "\n", - "\n", "import importlib as il\n", "il.reload(vt)\n" ] @@ -546,7 +565,7 @@ { "data": { "application/vnd.jupyter.widget-view+json": { - "model_id": "00f965f4b62c4cd29975d143ff7766cd", + "model_id": "4878ccdb452d473b8b53af05097436e6", "version_major": 2, "version_minor": 0 }, @@ -566,7 +585,7 @@ "\n", "cnstrs = constraints.subs(parameter_values)\n", "\n", - "# Note: There are two possibilities for the kinematic chain to close (two solutions to the algebraic constraints)\n", + "# Note: there are two possibilities for the kinematic chain to close (two solutions to the algebraic constraints)\n", "\n", "# prefer \"upward solution\"\n", "vis.interact(p1=(-4, 4, .1, pi/2), free_vars=q1, constraints=cnstrs)\n", @@ -594,32 +613,31 @@ }, { "cell_type": "code", - "execution_count": 10, + "execution_count": 12, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "CPU times: user 5.32 s, sys: 0 ns, total: 5.32 s\n", - "Wall time: 5.33 s\n" + "Wall time: 12.2 s\n" ] } ], "source": [ - "external_forces = [0 , 0, tau1]\n", + "external_general_forces = [0 , 0, tau1]\n", "\n", - "%time mod = mt.generate_symbolic_model(T, V, ttheta, external_forces, constraints=constraints)\n" + "%time mod = mt.generate_symbolic_model(T, V, ttheta, external_general_forces, constraints=constraints)\n" ] }, { "cell_type": "code", - "execution_count": 11, + "execution_count": 26, "metadata": {}, "outputs": [ { "data": { - "image/png": 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giY0N7Dm7DqymguHUMSahivqUVcKqzYLKqpzY1KlIFga98xTICuTlEURWNtRJR+NlwT9UN7OanIBTqh14gmXmMMUTDoFOOFud1W5YcgcfnVb7gJXBvsThOvZS9kIu50AYPAh+2kXK/3+7spf0YXiWfpCRMLObrhnswKqTDZqisJNNWmIMXWDHmiGIMelu2Y9pd2mjJR8nizHhEFn8/uNw56ct5e3i+lZjLtgqMcCQEs+28qKyKJr7PGwz3VPEIoCQz064QQKSPQLO6IB3Kw/py1mZ4Uc8rnWIGK+sjNzgHaPZKz1oL8nCf3H78jAAE95fHOa/PdrL4xAZWbG5TmxWJ0rDbn95dM1Pd8QYsrXCWRBjvrKt3DjT4MQJ2lPHWGmfsvppZTPb/MWhtVOho7oZO6uMrYFBbLYUllHYXmI7wzicrRVnlGOAx5ix4PbpXT7bS0tH4/JyjsgzDXg5BSrS5NqLlSIOPsZnz/ZCRt9Boj4GMGSJDmIQNQy1MYYorXCWxJicxVPxxpbbc+Er1Y+uGsbW+lRLm9H2FFo7FRjhvYszHf+buNp28szW45em3uUAQVrNALAPtgDsgEre5NTEH44vNGiV8JOz7C+pr5Q2aS/JCPj5O+W17bWu7OUpgcHItxnXyMRfbuNYugk7YgwZW+IsijFwpQhv3wlrbkIas8mVwFhBn2pps8kGt6ezNidsUTFz/0lAOWYWSGdnZfJIBsBpcM1NPR4RBaAMDO5+C0tjnhp5rMjgsUx/btPdHi7A/EH1xG5gA+yXiqHwoxJfqTyzK4LbtlrrDBfU4d/7Sob3FiFpL8mJ0+RGttNdjMcu7SX+cfgE7sc5m4EjtlSd7QxBRz97YAzxWuEsiTFP7zh6PmzKY9/uAQsv24wB3Y0JpRgTfW6fQvZWNvP1bs6bvqciQETfeRF33FSevbuQom+VB4+K03soMT5EA0CUfSiz0ldlpQ3Fo/Rh29n8TkSId9IUGJDNex7edbP3n2J8Wt6C9oJ/xWz9inbVZik+XJ6tp4pNVNdRGLP6ORpnTrYaR8nERHE2TukaHgFe9B2xGm1vrUN8HY0x1ZHdp0Tb3Gbigcl7F++piI9kuJPM7SOTwShnpcVNyNQ+8JqszOJiq6JcTbAdGJrZ5ZY/oNNsCjChg3fMHIk6Rx+9zu5j9qITL7dLlZQMazZLFraZNW1yLMZgqQbOcuTOotHAzsr2syJHF8AY1109POGY0/EojG3oU13ZbDYD2OqZa5aTQfC6DJ54e2YjbFdVmcnV5NOvS/yxpZVcrSgfXU+zecpTRnFVVtEwW9v8Jr3Pa+1z8YVcCDOLtdupWZ94ndlL1+gX/qe36GPtiSbLZrHye6aLt80Ygy+FLnEmvtzEhW1JBmzGhGR/21PPOXWLv2Mwlt2n1E4XNhMf2Ai+zU+X2xQ5huuFRnpkoJl9xsPxpnQ6AS9r0WtxlPyZV3TbL5SnMjOAhmhGWr5Opc/JXjo321g6Yh/s1PUEJmRn8Xw0xqhXYeCssG+G7GF1eSkY68Vm4sM4Fd7nwLPwZEtqW0YkI6xpQEtWQPRAujRvy6/R5+arXvbJeaKq1+2kXFG6otvLXl0JWcDMwFmBsjJJ98ZYTzYTLziVt8OpZIJjkA0NDA0MDQwNxDXgnMptS8J/jfjUszeK/YxxPjQwNDA0MDQwNCCfwb0cdmdcMOdupUKmH3jBKOdpJr/MOB8aGBoYGhgauCYakFPhPp57n8tJff4/HneQ9ST1IKEAAAAASUVORK5CYII=\n", + "image/png": 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CHd2kPYLQw+jfeQtn0sbUHh25saQYB0/fH3u8vUjl525ji8aUZ35SZz0hZboo6lTEE5MeL/T1VvG6ZnAzwX2xgG92M3h22jDQUMqPCmGyU96pgd0HTi6A6GFCIuD4DrpeyitO4Yq2Y5DiW/nIh7dwlzhc6yqqLxU+Eb5XCsYr8ieP40SbqA2HxVXpS3Q6mSo2R2y8GL0cyWCr1FuqM4dDbaO2qPwtOslhY9A7aWdeFlOnCI73BT8pGxs6+TvC+W4C79namGS7ZkxN6mxCXrsU39oFy3ok4exUQlyy2un1qLZM0gfFHDPx38rcq2AAu4mNsoyAYR/RLhrIIzjn0enfTVoqH05anSqjSXBODaZRBBsKU/pC1qmd3lF34r06fXWIhEdWxFedPJLo7edBXtHLjDYGX6XsLGpj4pVFJs7cwBaPdt2LVffcbWzRmPLMl9JZT/alnQoD1SZddhlrgS1z74U+GRXbZI5p7q1FOrMduyxnwIn6vV2Y6nC81B0ciWbJbFYjQ5zJyjsXRPWFrBW6kzADonucNCSjZn3BY8/hizdsC/6yfTFhKKCF10N72GpjdF/KzqI2ZvKQLp4qcLT6QvHwWNmqEZ+1jcGbwpIxBc+ldEbfAUo7FQhh8sHDvg1UrUvwmRTwdIHr3gSh62Ed6qOMtYCD4KZhD7xB0HdwOMpjcjqatHoNpy/Y0m9xStM9jNcY1Zd4ZDCzipw6FqlKX7As2rEN6O/qjDTO5IHKrxRXA56eHDYGjyXtLGlj4plj2wcKPE0ZHpyA4AhcCxsTn3PHVEmdBfFfhFSZBCtaVlUYyJZVIIOdVQvHXYoc3NEv91UwUJTCTsjtWnTN0zKPFZgwyKec83LynyuQD20AhsmHIqEzBi+VSbsY0OYntTXjtxWl7c5ibabycEpG21TdvctH9SU+kRv3U3hMe2wCrlVfyBbgGNV0hh2Fx8FdaV0/OWwMDkvZ2aiNQRi2pcB8wSP/qXe9roWNib+5YwrRlNIZfQe4CKkCCQlsbPs6myIMS5WHO5LQXuWs7GNOYSx/+IRTwNdNgFvhoHB0U1p5GHboV9fuiE5xktYu7mFa7TCww9r2Q3xLr9VvUl+eNiZjzsQP/prYHGnoTnlV6ksEQrud3ZfcDQZZTSUky11tjP6Es5idqe8jG1Pepcj6R4HdoukFvgEWipbnMvhRvbO3MfGAHuaOqWI6C0L3iVvDjHa9SgKszufsHtyktaqH941YndHXFmAw2oDcgie09cb/QhkvlMa5svOD1nehUl2JlL5Y6a1y+BvZ21MnW20MVvaws40i+dBc9oR8sKXuAgVdkV/VwxOix2CTja0YU9XorPj/qZgGurEXKJM0hsMExTnqW+UTVwmijSMtXtTsGn6PVpX9qwxuwGEADpRmhTHJq6/HpO12Ar55FZFogq/LITHKX/PFgCGaLNeiracvXUM/fPAexeguVeWzdJaF8Amkom21jYHa81adnYku5oGvFOze632lWcUnx5vKi4Jo22Jjs8dULToTHZzEPLooKvVE595QwsSbqFZbNsdc3Fs5mvTFD6sWHCQTF59nOSg4/hQzKObwyk5gzm5I1U4L4iH6AtppqVjcW9CX6OfBAu6tAdxDu61wdAzzvthNvHN1Zk2yx6J3DxuDzirtTPxxxHV0zJVdsNs62GJjS8ZUVTqrcqeyTY/lWsvwWcHiNHbdUQkfN42nvkFWjvEz7TmXvs5UHIdmZ/trLreN1aQz0eJ2Ks2p7G9HDWOTQJNAk8CNk4A5FTv+4rMdvTNxXV/dOKk0hpsEmgSaBJoEZklg6DPUyPkQe/qLMzluDFngfLZBk0CTQJNAk0CTQEoC3EM2n0Hs/Mb/AQN0IkUxDjamAAAAAElFTkSuQmCC", "text/latex": [ "$\\displaystyle \\left[\\begin{matrix}l_{1} \\cos{\\left(q_{1} \\right)} + l_{2} \\cos{\\left(p_{1} + q_{1} \\right)} - l_{3} \\cos{\\left(p_{2} \\right)} - l_{4}\\\\l_{1} \\sin{\\left(q_{1} \\right)} + l_{2} \\sin{\\left(p_{1} + q_{1} \\right)} - l_{3} \\sin{\\left(p_{2} \\right)}\\end{matrix}\\right]$" ], @@ -629,7 +647,7 @@ "⎣ l₁⋅sin(q₁) + l₂⋅sin(p₁ + q₁) - l₃⋅sin(p₂) ⎦" ] }, - "execution_count": 11, + "execution_count": 26, "metadata": {}, "output_type": "execute_result" } @@ -642,12 +660,12 @@ }, { "cell_type": "code", - "execution_count": 12, + "execution_count": 27, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", 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", "text/latex": [ "$\\displaystyle \\left[\\begin{matrix}J_{2} \\ddot{p}_{1} + J_{2} \\ddot{q}_{1} + g m_{2} s_{2} \\cos{\\left(p_{1} + q_{1} \\right)} + l_{1} m_{2} \\ddot{q}_{1} s_{2} \\cos{\\left(p_{1} \\right)} + l_{1} m_{2} \\dot{q}_{1}^{2} s_{2} \\sin{\\left(p_{1} \\right)} + l_{2} \\lambda_{1} \\sin{\\left(p_{1} + q_{1} \\right)} - l_{2} \\lambda_{2} \\cos{\\left(p_{1} + q_{1} \\right)} + m_{2} \\ddot{p}_{1} s_{2}^{2} + m_{2} \\ddot{q}_{1} s_{2}^{2}\\\\J_{3} \\ddot{p}_{2} + g m_{3} s_{3} \\cos{\\left(p_{2} \\right)} - l_{3} \\lambda_{1} \\sin{\\left(p_{2} \\right)} + l_{3} \\lambda_{2} \\cos{\\left(p_{2} \\right)} + m_{3} \\ddot{p}_{2} s_{3}^{2}\\\\J_{1} \\ddot{q}_{1} + J_{2} \\ddot{p}_{1} + J_{2} \\ddot{q}_{1} + g l_{1} m_{2} \\cos{\\left(q_{1} \\right)} + g m_{1} s_{1} \\cos{\\left(q_{1} \\right)} + g m_{2} s_{2} \\cos{\\left(p_{1} + q_{1} \\right)} + l_{1}^{2} m_{2} \\ddot{q}_{1} + l_{1} \\lambda_{1} \\sin{\\left(q_{1} \\right)} - l_{1} \\lambda_{2} \\cos{\\left(q_{1} \\right)} + l_{1} m_{2} \\ddot{p}_{1} s_{2} \\cos{\\left(p_{1} \\right)} - l_{1} m_{2} \\dot{p}_{1}^{2} s_{2} \\sin{\\left(p_{1} \\right)} - 2 l_{1} m_{2} \\dot{p}_{1} \\dot{q}_{1} s_{2} \\sin{\\left(p_{1} \\right)} + 2 l_{1} m_{2} \\ddot{q}_{1} s_{2} \\cos{\\left(p_{1} \\right)} + l_{2} \\lambda_{1} \\sin{\\left(p_{1} + q_{1} \\right)} - l_{2} \\lambda_{2} \\cos{\\left(p_{1} + q_{1} \\right)} + m_{1} \\ddot{q}_{1} s_{1}^{2} + m_{2} \\ddot{p}_{1} s_{2}^{2} + m_{2} \\ddot{q}_{1} s_{2}^{2} - \\tau_{1}\\end{matrix}\\right]$" ], @@ -661,50 +679,41 @@ "⎢ \n", "⎣J₁⋅q̈₁ + J₂⋅p̈₁ + J₂⋅q̈₁ + g⋅l₁⋅m₂⋅cos(q₁) + g⋅m₁⋅s₁⋅cos(q₁) + g⋅m₂⋅s₂⋅cos(p₁\n", "\n", - " 2\n", - " J₂⋅p̈₁ + J₂⋅q̈₁ + g⋅m₂⋅s₂⋅cos(p₁ + q₁) + l₁⋅m₂⋅q̈₁⋅s₂⋅cos(p₁) + l₁⋅m₂⋅q̇₁ \n", + " 2 \n", + " J₂⋅p̈₁ + J₂⋅q̈₁ + g⋅m₂⋅s₂⋅cos(p₁ + q₁) + l₁⋅m₂⋅q̈₁⋅s₂⋅cos(p₁) + l₁⋅m₂⋅q̇₁ ⋅s₂\n", " \n", " \n", - " J₃⋅p̈₂ + g⋅m₃⋅s₃⋅cos(p₂) - l₃⋅λ₁\n", + " J₃⋅p̈₂ + g⋅m₃⋅s₃⋅cos(p₂) - l₃⋅λ₁⋅sin(\n", " \n", - " 2 \n", + " 2 \n", " + q₁) + l₁ ⋅m₂⋅q̈₁ + l₁⋅λ₁⋅sin(q₁) - l₁⋅λ₂⋅cos(q₁) + l₁⋅m₂⋅p̈₁⋅s₂⋅cos(p₁) - l\n", "\n", - " 2 \n", - "⋅s₂⋅sin(p₁) + l₂⋅λ₁⋅sin(p₁ + q₁) - l₂⋅λ₂⋅cos(p₁ + q₁) + m₂⋅p̈₁⋅s₂ + m₂⋅q̈₁⋅s₂\n", + " 2 2 \n", + "⋅sin(p₁) + l₂⋅λ₁⋅sin(p₁ + q₁) - l₂⋅λ₂⋅cos(p₁ + q₁) + m₂⋅p̈₁⋅s₂ + m₂⋅q̈₁⋅s₂ \n", " \n", - " 2 \n", - "⋅sin(p₂) + l₃⋅λ₂⋅cos(p₂) + m₃⋅p̈₂⋅s₃ \n", + " 2 \n", + "p₂) + l₃⋅λ₂⋅cos(p₂) + m₃⋅p̈₂⋅s₃ \n", " \n", - " 2 \n", + " 2 \n", "₁⋅m₂⋅ṗ₁ ⋅s₂⋅sin(p₁) - 2⋅l₁⋅m₂⋅ṗ₁⋅q̇₁⋅s₂⋅sin(p₁) + 2⋅l₁⋅m₂⋅q̈₁⋅s₂⋅cos(p₁) + l\n", "\n", - "2 \n", - " \n", - " \n", - " \n", - " \n", - " \n", - " 2 2 2 \n", - "₂⋅λ₁⋅sin(p₁ + q₁) - l₂⋅λ₂⋅cos(p₁ + q₁) + m₁⋅q̈₁⋅s₁ + m₂⋅p̈₁⋅s₂ + m₂⋅q̈₁⋅s₂ \n", - "\n", - " ⎤\n", - " ⎥\n", - " ⎥\n", - " ⎥\n", - " ⎥\n", - " ⎥\n", - " ⎥\n", - "- τ₁⎦" + " ⎤\n", + " ⎥\n", + " ⎥\n", + " ⎥\n", + " ⎥\n", + " ⎥\n", + " 2 2 2 ⎥\n", + "₂⋅λ₁⋅sin(p₁ + q₁) - l₂⋅λ₂⋅cos(p₁ + q₁) + m₁⋅q̈₁⋅s₁ + m₂⋅p̈₁⋅s₂ + m₂⋅q̈₁⋅s₂ " ] }, - "execution_count": 12, + "execution_count": 27, "metadata": {}, "output_type": "execute_result" } ], "source": [ - "# ODE-part oft the equation\n", + "# ODE-part of the equation\n", "\n", "mod.eqns" ] @@ -720,32 +729,6 @@ "cell_type": "code", "execution_count": 13, "metadata": {}, - "outputs": [ - { - "data": { - "image/png": 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giY0N7Dm7DqymguHUMSahivqUVcKqzYLKqpzY1KlIFga98xTICuTlEURWNtRJR+NlwT9UN7OanIBTqh14gmXmMMUTDoFOOFud1W5YcgcfnVb7gJXBvsThOvZS9kIu50AYPAh+2kXK/3+7spf0YXiWfpCRMLObrhnswKqTDZqisJNNWmIMXWDHmiGIMelu2Y9pd2mjJR8nizHhEFn8/uNw56ct5e3i+lZjLtgqMcCQEs+28qKyKJr7PGwz3VPEIoCQz064QQKSPQLO6IB3Kw/py1mZ4Uc8rnWIGK+sjNzgHaPZKz1oL8nCf3H78jAAE95fHOa/PdrL4xAZWbG5TmxWJ0rDbn95dM1Pd8QYsrXCWRBjvrKt3DjT4MQJ2lPHWGmfsvppZTPb/MWhtVOho7oZO6uMrYFBbLYUllHYXmI7wzicrRVnlGOAx5ix4PbpXT7bS0tH4/JyjsgzDXg5BSrS5NqLlSIOPsZnz/ZCRt9Boj4GMGSJDmIQNQy1MYYorXCWxJicxVPxxpbbc+Er1Y+uGsbW+lRLm9H2FFo7FRjhvYszHf+buNp28szW45em3uUAQVrNALAPtgDsgEre5NTEH44vNGiV8JOz7C+pr5Q2aS/JCPj5O+W17bWu7OUpgcHItxnXyMRfbuNYugk7YgwZW+IsijFwpQhv3wlrbkIas8mVwFhBn2pps8kGt6ezNidsUTFz/0lAOWYWSGdnZfJIBsBpcM1NPR4RBaAMDO5+C0tjnhp5rMjgsUx/btPdHi7A/EH1xG5gA+yXiqHwoxJfqTyzK4LbtlrrDBfU4d/7Sob3FiFpL8mJ0+RGttNdjMcu7SX+cfgE7sc5m4EjtlSd7QxBRz97YAzxWuEsiTFP7zh6PmzKY9/uAQsv24wB3Y0JpRgTfW6fQvZWNvP1bs6bvqciQETfeRF33FSevbuQom+VB4+K03soMT5EA0CUfSiz0ldlpQ3Fo/Rh29n8TkSId9IUGJDNex7edbP3n2J8Wt6C9oJ/xWz9inbVZik+XJ6tp4pNVNdRGLP6ORpnTrYaR8nERHE2TukaHgFe9B2xGm1vrUN8HY0x1ZHdp0Tb3Gbigcl7F++piI9kuJPM7SOTwShnpcVNyNQ+8JqszOJiq6JcTbAdGJrZ5ZY/oNNsCjChg3fMHIk6Rx+9zu5j9qITL7dLlZQMazZLFraZNW1yLMZgqQbOcuTOotHAzsr2syJHF8AY1109POGY0/EojG3oU13ZbDYD2OqZa5aTQfC6DJ54e2YjbFdVmcnV5NOvS/yxpZVcrSgfXU+zecpTRnFVVtEwW9v8Jr3Pa+1z8YVcCDOLtdupWZ94ndlL1+gX/qe36GPtiSbLZrHye6aLt80Ygy+FLnEmvtzEhW1JBmzGhGR/21PPOXWLv2Mwlt2n1E4XNhMf2Ai+zU+X2xQ5huuFRnpkoJl9xsPxpnQ6AS9r0WtxlPyZV3TbL5SnMjOAhmhGWr5Opc/JXjo321g6Yh/s1PUEJmRn8Xw0xqhXYeCssG+G7GF1eSkY68Vm4sM4Fd7nwLPwZEtqW0YkI6xpQEtWQPRAujRvy6/R5+arXvbJeaKq1+2kXFG6otvLXl0JWcDMwFmBsjJJ98ZYTzYTLziVt8OpZIJjkA0NDA0MDQwNxDXgnMptS8J/jfjUszeK/YxxPjQwNDA0MDQwNCCfwb0cdmdcMOdupUKmH3jBKOdpJr/MOB8aGBoYGhgauCYakFPhPp57n8tJff4/HneQ9ST1IKEAAAAASUVORK5CYII=\n", - "text/latex": [ - "$\\displaystyle \\left[\\begin{matrix}l_{1} \\cos{\\left(q_{1} \\right)} + l_{2} \\cos{\\left(p_{1} + q_{1} \\right)} - l_{3} \\cos{\\left(p_{2} \\right)} - l_{4}\\\\l_{1} \\sin{\\left(q_{1} \\right)} + l_{2} \\sin{\\left(p_{1} + q_{1} \\right)} - l_{3} \\sin{\\left(p_{2} \\right)}\\end{matrix}\\right]$" - ], - "text/plain": [ - "⎡l₁⋅cos(q₁) + l₂⋅cos(p₁ + q₁) - l₃⋅cos(p₂) - l₄⎤\n", - "⎢ ⎥\n", - "⎣ l₁⋅sin(q₁) + l₂⋅sin(p₁ + q₁) - l₃⋅sin(p₂) ⎦" - ] - }, - "execution_count": 13, - "metadata": {}, - "output_type": "execute_result" - } - ], - "source": [ - "mod.constraints" - ] - }, - { - "cell_type": "code", - "execution_count": 14, - "metadata": {}, "outputs": [], "source": [ "# generate a dae object\n", @@ -756,12 +739,12 @@ }, { "cell_type": "code", - "execution_count": 15, + "execution_count": 14, "metadata": {}, "outputs": [ { "data": { - "image/png": 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+ "image/png": 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"text/latex": [ "(dae.yy).T := $\\displaystyle \\left[\\begin{matrix}p_{1} & p_{2} & q_{1} & \\dot{p}_{1} & \\dot{p}_{2} & \\dot{q}_{1} & \\lambda_{1} & \\lambda_{2}\\end{matrix}\\right]$" ], @@ -773,15 +756,17 @@ "output_type": "display_data" }, { - "name": "stdout", - "output_type": "stream", - "text": [ - "---\n" - ] + "data": { + "text/plain": [ + "---" + ] + }, + "metadata": {}, + "output_type": "display_data" }, { "data": { - "image/png": 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+ "image/png": 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"text/latex": [ "(dae.yyd).T := $\\displaystyle \\left[\\begin{matrix}\\dot{y}_{1} & \\dot{y}_{2} & \\dot{y}_{3} & \\dot{y}_{4} & \\dot{y}_{5} & \\dot{y}_{6} & \\dot{y}_{7} & \\dot{y}_{8}\\end{matrix}\\right]$" ], @@ -793,11 +778,13 @@ "output_type": "display_data" }, { - "name": "stdout", - "output_type": "stream", - "text": [ - "---\n" - ] + "data": { + "text/plain": [ + "---" + ] + }, + "metadata": {}, + "output_type": "display_data" } ], "source": [ @@ -816,7 +803,7 @@ }, { "cell_type": "code", - "execution_count": 16, + "execution_count": 15, "metadata": {}, "outputs": [ { @@ -844,11 +831,13 @@ "output_type": "display_data" }, { - "name": "stdout", - "output_type": "stream", - "text": [ - "---\n" - ] + "data": { + "text/plain": [ + "---" + ] + }, + "metadata": {}, + "output_type": "display_data" } ], "source": [ @@ -856,14 +845,13 @@ "\n", "t0 = 0\n", "\n", - "\n", "# check if all values are almost zero (-> initial values fulfill the model)\n", "assert npy.allclose(dae.model_func(t0, yy0, yyd0), 0)" ] }, { "cell_type": "code", - "execution_count": 17, + "execution_count": 16, "metadata": {}, "outputs": [], "source": [ @@ -874,7 +862,7 @@ "# model.algvar = dae.diff_alg_vars ##:\n", "\n", "sim = IDA(model)\n", - "# sim.suppress_alg = True #Necessary to set to True for >1 index problem\n", + "# sim.suppress_alg = True # neccessary to set to True for >1 index problem\n", "\n", "# values <= 30 produce lots of output\n", "sim.verbosity = 0" @@ -882,7 +870,7 @@ }, { "cell_type": "code", - "execution_count": 18, + "execution_count": 17, "metadata": {}, "outputs": [ { @@ -893,12 +881,12 @@ "No finalization defined for the problem.\n", "Final Run Statistics: fourbar linkage \n", "\n", - " Number of steps : 3504\n", - " Number of function evaluations : 5621\n", - " Number of Jacobian evaluations : 199\n", - " Number of function eval. due to Jacobian eval. : 1592\n", - " Number of error test failures : 100\n", - " Number of nonlinear iterations : 5621\n", + " Number of steps : 3604\n", + " Number of function evaluations : 5749\n", + " Number of Jacobian evaluations : 204\n", + " Number of function eval. due to Jacobian eval. : 1632\n", + " Number of error test failures : 87\n", + " Number of nonlinear iterations : 5749\n", " Number of nonlinear convergence failures : 0\n", "\n", "Solver options:\n", @@ -910,21 +898,21 @@ " Tolerances (relative) : 1e-06\n", "\n", "Simulation interval : 0.0 - 10.0 seconds.\n", - "Elapsed simulation time: 9.14327409299949 seconds.\n" + "Elapsed simulation time: 5.807001878000051 seconds.\n" ] } ], "source": [ - "tfinal = 10.0 # Specify the final time\n", - "ncp = 500 # Number of communication points (number of return points)\n", + "tfinal = 10.0 # specify the final time\n", + "ncp = 500 # number of communication points (number of return points)\n", "\n", - "# takes about 48 seconds\n", + "# takes up to 50 seconds\n", "tt_sol, yy_sol, yyd_sol = sim.simulate(tfinal, ncp) " ] }, { "cell_type": "code", - "execution_count": 19, + "execution_count": 18, "metadata": {}, "outputs": [], "source": [ @@ -934,7 +922,7 @@ }, { "cell_type": "code", - "execution_count": 20, + "execution_count": 19, "metadata": {}, "outputs": [ { @@ -943,13 +931,13 @@ "Text(0.5, 1.0, 'angular velocities')" ] }, - "execution_count": 20, + "execution_count": 19, "metadata": {}, "output_type": "execute_result" }, { "data": { - "image/png": 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\n", + "image/png": 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\n", 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" ] @@ -979,12 +967,12 @@ }, { "cell_type": "code", - "execution_count": 21, + "execution_count": 20, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", 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\n", "text/latex": [ "joint_pos_expr := $\\displaystyle \\left[\\begin{matrix}0 & 0.8 \\cos{\\left(q_{1} \\right)} & 0.8 \\cos{\\left(q_{1} \\right)} + 1.5 \\cos{\\left(p_{1} + q_{1} \\right)} & 2\\\\0 & 0.8 \\sin{\\left(q_{1} \\right)} & 0.8 \\sin{\\left(q_{1} \\right)} + 1.5 \\sin{\\left(p_{1} + q_{1} \\right)} & 0\\end{matrix}\\right]$" ], @@ -998,11 +986,13 @@ "output_type": "display_data" }, { - "name": "stdout", - "output_type": "stream", - "text": [ - "---\n" - ] + "data": { + "text/plain": [ + "---" + ] + }, + "metadata": {}, + "output_type": "display_data" } ], "source": [ @@ -1012,24 +1002,23 @@ }, { "cell_type": "code", - "execution_count": 22, + "execution_count": 21, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", 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\n", 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" ] }, - "execution_count": 22, + "execution_count": 21, "metadata": {}, "output_type": "execute_result" } ], "source": [ - "# Create object for Animation\n", - "\n", + "# create object for animation\n", "simanim = vt.SimAnimation(mod.xx[:3], tt_sol, yy_sol[:, :3], figsize=(14, 7))\n", "simanim.add_visualiser(vis)\n", "\n", @@ -1039,7 +1028,7 @@ }, { "cell_type": "code", - "execution_count": 23, + "execution_count": 22, "metadata": {}, "outputs": [], "source": [ @@ -1058,7 +1047,7 @@ }, { "cell_type": "code", - "execution_count": 24, + "execution_count": 23, "metadata": {}, "outputs": [ { @@ -1081,11 +1070,18 @@ "source": [ "vt.display_video_file(fname)" ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] } ], "metadata": { "kernelspec": { - "display_name": "Python 3", + "display_name": "Python 3 (ipykernel)", "language": "python", "name": "python3" }, @@ -1099,7 +1095,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.7.3" + "version": "3.9.7" } }, "nbformat": 4, From b641f963d05a1958633e51fdaaad5ce484294d32 Mon Sep 17 00:00:00 2001 From: lxchtschexn <74259508+lxchtschexn@users.noreply.github.com> Date: Wed, 20 Jul 2022 14:14:05 +0200 Subject: [PATCH 2/2] four-bar_linkage clear output --- ...our-bar_linkage_model_and_simulation.ipynb | 750 +----------------- 1 file changed, 40 insertions(+), 710 deletions(-) diff --git a/docs/demo_notebooks/modeltools/four-bar_linkage_model_and_simulation.ipynb b/docs/demo_notebooks/modeltools/four-bar_linkage_model_and_simulation.ipynb index c1b7750..c1a48fa 100644 --- a/docs/demo_notebooks/modeltools/four-bar_linkage_model_and_simulation.ipynb +++ b/docs/demo_notebooks/modeltools/four-bar_linkage_model_and_simulation.ipynb @@ -11,7 +11,7 @@ }, { "cell_type": "code", - "execution_count": 26, + "execution_count": null, "metadata": {}, "outputs": [], "source": [ @@ -39,142 +39,9 @@ }, { "cell_type": "code", - "execution_count": 27, + "execution_count": null, "metadata": {}, - "outputs": [ - { - "data": { - "image/png": "iVBORw0KGgoAAAANSUhEUgAAAEYAAAAZCAYAAACM9limAAAACXBIWXMAAA7EAAAOxAGVKw4bAAACWUlEQVRYCe2Z7U3DMBCG06oDVLBB2YCKCaAbIJig7QZE/dX+Q7BBGaEwAkwA7QZ0BNQReJ/URm4a50MoTaTkpKvvHNu5e30+22lnPp+/BkFwKbY0WiwWW6s0oZS/D/Jz6vgadgTMWg+GTmWjRWExAYBuo1FIcb4FxgNOC0wLjAcBT3UbMS0wHgQ81T1PfaBti7PNjfhKPBYPjH5u5LHa7CRXQmXbl7aU7vXyZ+P1h8oBujiUzAGQg2GVVKp9icCY2fg0XhMpW9W9OSh8SyaaKqFT2OdbSgCxMV6zpB5jCPTR1aYv3lFKvRNPJZ/iFJ3bPuwUzfZFlA4QM9NAIjA4S2+VNire0R0aSQYQ2OYiHkeAOe1KEXkvA6vMY99S7f7uQZKX6roWXzCGjxKXktMYAJidyBCnHoNW6Hq2EZOLqrh4ZtonuyayzwKIyU9i8qV7cab+gLKAYcCDaNGAXLIAiiRcNeWxj2j5Kmpoz9dBALAsQPXHtlEdiRhAriXHo8g2O0mZ1z61e4kZBFBujoo93qteYPSY2YBCDc73CogzTF2+1xS2T34w0bfizA0iDRjWL/mD3cnuUBJrQ4Xskx9EO/llKDkz2tOAYUbcs0ttEDGG5LbPgELkA2ZgdErvhpEIjDqQX0DYHvIYrzZUxD61xQ+2aICxOxF5JnXz6Ma9VWfWIFcAaCY9+tS3V49/ebGYEOUQFcnSbU467vDPGo1dyD69jjML0UVpmS08dTm133yFlksCrP3m6wISl4+WUrxBU/Uo+Sp8uC1bqss5xdpTein/3f+VzvTC8Bc5F+3bCPBLSgAAAABJRU5ErkJggg==\n", - "text/latex": [ - "pp.T := $\\displaystyle \\left[\\begin{matrix}p_{1} & p_{2}\\end{matrix}\\right]$" - ], - "text/plain": [ - "pp.T := [p₁ p₂]" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "text/plain": [ - "---" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "image/png": "iVBORw0KGgoAAAANSUhEUgAAABwAAAAZCAYAAAAiwE4nAAAACXBIWXMAAA7EAAAOxAGVKw4bAAABkElEQVRIDe2W0U3DMBRFE9QBKtigI9AV6AaFEegGzWfyh8oGwAiwAd0A0Q1gA6SOwLmuXZnIduJG5aPqk5xn+9n3+l07Tsq6rl+LorimOJs1TfPtGkM8OEvmLzyMqoTwk8DU6zxKFY57AV8cBT0BeiZMiHNY6PQlHXUJw3GeMGZF+aBcUR4oOuJrYht8liUJAbwB7Ymyvwzo00Uxx5dZTHZwdA8BHDNG4Cvq7ZsnOzO3uFSGknEM2bMbbL2uwTfXZxd2R3tBvfPGShEKZO2A5QHUfqq827bIJbtMinRakNCuWgAG2EMx4MTNQvCSdoOfe2OS1ege2lntvbsVQRKxIxgkZMVb5ikLyWeMPr0KyvCPzLto/2dQUjtd2bxApG+azGXblnkX7fmMEtosRWrMZljgB2UYlNSRtPyM9qD9E14O4eD9E2FUUgVlSKgLQGR6TXSlqa+iLq9DpX8WxSe0NfYH/4gPWh9CAx6aDbAOUjQempMjaWh+dt+/ExpJkebLW+r+U+T1HVQF1/8vvQSk+gW6O2rTlevyIwAAAABJRU5ErkJggg==\n", - "text/latex": [ - "qq.T := $\\displaystyle \\left[\\begin{matrix}q_{1}\\end{matrix}\\right]$" - ], - "text/plain": [ - "qq.T := [q₁]" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "text/plain": [ - "---" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "image/png": "iVBORw0KGgoAAAANSUhEUgAAAB4AAAAZCAYAAAAmNZ4aAAAACXBIWXMAAA7EAAAOxAGVKw4bAAABdklEQVRIDe2W4U3DMBCFXcQAFWzQEWCFdoPCCHSD5mfyt2wATIBgAxiBdoN2g0qMwPdap3It2wluqvyAk04+n5P37Gf7kkFZlm/GmBu8tklVVZu600UL3hycmYNVDCBeMnDrJM8awvUggouzsiTA/4kT4nQ79PekvmwSkOM/4pkFrru9xd/xKflH2mxLSg34GOQlXhDLRfaEL4iHtNkWJbbAqmoidCuZ4g2572xWXkxJLXmHEDx7BFJBch+Zneg9yRlxYyVMEQvk00W34NrzDy+vWq8JyVptQZDYEgjgiIC+JmMY9ye0Ir0iP9V4G4vusX3Z3VulJrhIRK6TrdVnWZAYQB0creoALCL6kvQLl530+QxKvcc1d7QvEOpbeo2/4lqxrpJyulbZFiW2qxa5b6Gc/0xjPyh141sdPNAbcVTq3yyKbdEh1D/VGB/RV/HZ0kbreVfEunYF3tp6k7o34p3U7MXa0eikwuDgHELwde/r/+or4uIHDD5pYHYtoJkAAAAASUVORK5CYII=\n", - "text/latex": [ - "aa.T := $\\displaystyle \\left[\\begin{matrix}a_{1}\\end{matrix}\\right]$" - ], - "text/plain": [ - "aa.T := [a₁]" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "text/plain": [ - "---" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "image/png": "iVBORw0KGgoAAAANSUhEUgAAAG0AAAAZCAYAAAA7S6CBAAAACXBIWXMAAA7EAAAOxAGVKw4bAAADN0lEQVRoBe2a63ETMRSF15kUwEAHoQMyVADpgEcFSTrAwy/7HxM6SNIBpANCBZB0QDpgSAmcT9Y18tpWVt7sSjPozlxfvSydvefqtfZkNpt9bZrmhdTkaD6f31mm2rweEBcfhOA0QDGdiLQbVRwGhTVZqAfE0wnQ9grFV2FFPFBJizin1KpKWqnMRHBV0iLOKbWqklYqMxFclbSIc0qt2t8GTMdL7m6vpS+lx9IDn3/m08dqc690FikdX+gUYcV3Z9IfUvz3Scrx/Vp1t7JJEptp79XhZ9/bd9kD8tKp0ly+uZTnlNLxOd/IXwT+N+k08N+l8mfKJxNGpxtJU2fMMqICIUruVHblcouPXzKAySKl4zOnCOcTpQluCGq/ZdqJMPretjxCknUKgUznUADTAEp6j1X2nfRU6THernTGB07Jx4VxAUhyrKWdJREfXfjxzeDT5SRI9d9G0tSJ26tkbTZd22jeHslCFmp7H1WOTN9mMJOI71ztl+/ulD4XsBvp88EA/uuYQF7xncZn5UJZMhvlk/23cXmkMy+QQ1Q7Eq1QFjK/kFfdrZS9rz39qR5aHsQnACfCZ8EHHqKf/RlnDSbqnwBGHTnBQA6L6h2Zssn+e4g0BmhHCqceSORAklu64GOW/cwItB3Mb4XFtp6dYG0lzUcK0chUdqIy0pD1Sun27Fs0GumzKz61u2hhhcRwTxwEsR+TgA/9R8CvBVoqgP3IF+gc4ajKbzoId4xSfm9LxqfnIAjfSMc4LGmYhll1GfjPZl17yaRtZ4mRxn7BestU7jWdO6NJa5iET89BxLOfHSo9yirhx4E4J8q738NkV7Ycq+9qY6QRyctjadcOR2zXGZ+c5JZ1WYhufB5rkT8WbBdofQfbSJoehlMPD2oX7L7jPOr3U/CpLc/BMZ9l3k6M7Gs5DlIEWvvOpqI0Wfu7gR6MNZ/LKA/Issg9Z+tA3ik4AUB8h+P/b5XbKzBlH092wPdHoxOEK6J+JisFA2Y0Fsuy+YfZfaUyFzSyBFUn/6mtW17XSBsQe+26pweMtL2e/dSvZ/BAJS2D0/sO6Q4imna8tTcp5R5meP5rK27C/z0+lTOmfwHU2kJNTNadswAAAABJRU5ErkJggg==\n", - "text/latex": [ - "ttheta.T := $\\displaystyle \\left[\\begin{matrix}p_{1} & p_{2} & q_{1}\\end{matrix}\\right]$" - ], - "text/plain": [ - "ttheta.T := [p₁ p₂ q₁]" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "text/plain": [ - "---" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "image/png": "iVBORw0KGgoAAAANSUhEUgAAAG0AAAAZCAYAAAA7S6CBAAAACXBIWXMAAA7EAAAOxAGVKw4bAAADaUlEQVRoBe2a7XETMRCGzxkXwEcHoQMCFUA6CFBBkg7w8Mv+x4QOknRA0gGhAkg6SDpgSAm8j6z1yOfzRfJ9aYbbmfVKd7L2vX1XX2dP5vP5VVEUr6Umh4vF4sEqox02AuLisxCcBihmE5F2qxsHwcWxmGkExNMJ0PYyxTfCqolAEmli+l56XtPfoLdyx0dw2sAYTZqcPZPPfekbnOcmueMjXm1hTCHtUX6fy3GW659wZY3Pk9YKxmjSAqcUsxRPXJbYDFQbGJNIM8ejHTYC023ulRGc3d5L30qPpaxn1F/68nEbWaO+dpLc8YUPJazE7kz6S0r8vkrZvt/o3p1sktSNtE/q8Jvv7afsPnXpTGUO3xzKh5Tc8bnYKF4k+g/pLIjfpepnqicTRqeVpKkzRhlZgZAlD7p27WrLj3sZwAwiueOzoAgnO26SG4LKb5l2Ioy+p3xUCCRZpxDIcA4FMAWgpI9YVT9KT1XuY3cZjQ+cki9L4xKQYl9TO1MiMbrw/s0Q09UgSI1fJWnqhK1pIWuj6ca8eXsoC1morX3ccmT6Np0Z/NK5bAy+c7VbvbtTmZcDt9JX9NGxkMhrsZN/Zi6UKbNQPTl+ldMjnXmBHLLaBckuyhKs79R1707K2lce/tzuWp7EJwAnwmfkgofsZ30mWJ2J+ieBUUdO4Mhh0X1Hpmxy/J4iDQflTGHXA4lsSIaWGHyMst8DAi0n8wdhsaVnJ1hbSfOZQjYylJ3oGmXIeqdyefQtG/X0GYtP7S5KWCExXBM7Qex9kvBh/Ej4jURLBTCt+QKdI2xV+U0H4YyRy+9tyfj0HCThkbSPzZLcFIyqyyB+NurKUyZto6WONNYL5luGcqPhHI0mrWESPj0HGc96dqByL7OE9wNxTlR3v4fJri05dj/W1pFGJq+2pbEd9tguGp+C5KZ1WYgufB1rmd8XbJdoTZ1VkqaHYdfDg9oBu6mfVr+fgk9teQ62+UzztmNkXRtiI0Wilc9supQmG3830IMx53MY5QGZFjnnbHXkg0IQAMR32P7/0XV7BaZqe7IDvr/yThKuifqZrF3osCJfTMsWH0b3ta65pJElqaLip7Zuet0grUPsY9cNI2Ck7TXsZ/z6ABEYSRsg6E1duo2Ihh1v7U1yOYcZnv/aipvwf48vFIzZP99paU0v4umoAAAAAElFTkSuQmCC\n", - "text/latex": [ - "tthetad.T := $\\displaystyle \\left[\\begin{matrix}\\dot{p}_{1} & \\dot{p}_{2} & \\dot{q}_{1}\\end{matrix}\\right]$" - ], - "text/plain": [ - "tthetad.T := [ṗ₁ ṗ₂ q̇₁]" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "text/plain": [ - "---" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "image/png": "iVBORw0KGgoAAAANSUhEUgAAAG0AAAAZCAYAAAA7S6CBAAAACXBIWXMAAA7EAAAOxAGVKw4bAAADXElEQVRoBe2a73ETMRDFzxkXwIQOQgdkqADSQYAKknSAh0/2NyZ0kKQDSAeECiDpgHTAkBJ4P1lr5LN9lny+k4a5nVmvpJOlp32rf2ePptPp16qqXkpNTmaz2aNlBpvXA+LigxBcBCgmI5F2rwfHQeGQLNQD4ukcaAeF4htgNXhgK2li90r6y9pQ+jLMW3lOWzrGfePbSprIOPRqvBzV8lae05aOca/4hj0tZ6gl9q0ZO+xpiT4rpnrM8lgM2AHI3APjTY7QVOTu9kb6SnomZS8j/9ynz1TnSeksUjq+0CnCiu8upT+k+O+TlKXuTs8eZJOkaaa9V4OffWvfZY/ISydKc/nmUp5TSsfnfCN/EejfpJPAfzfKcwpPJoxG15KmxphlRAVClDyq7Nbl5h9cAQCTRUrHZ04RzmdKE9wQVH/LtBNhtD3mY41AkjUKgUznUABTAUr6hFX2nfRC6T7erkTjA6fk49y4ACTZ19LOkoiPrn3/ZvDpYhKk+m8taWrE7VWyNpvurDdvT2QhC7W9j0eOTF+nM5OIj5cDi3d3Sl8J2L30RWcA/zVMIC/5Tv2zcqEsmZXyyf5buzzSmBfIIaodiVYoC5lfyOvZg5S9rz79edy1bMUnAOfCZ8EHHqKf/RlndSZqnwBGHTlBRw6LnjsyZZP9t400OqhHCqceSORAklti8DHLfmYEWg/mt8JiW89OsDaS5iOFaGQqO1EZach6rXR99s0r9fQZi0/1rmtYITHcEztB7Psk4EP/EfArgZYKYNzwBRpHOKrymw7CHaOU39uS8WkcBOGptI/DkrqpmFU3gf9s1tWXTOpGSxNp7Best0zlVtM5Gk1axSR8GgcRz352rHQvq4TvB+KcKO/eHcoubTn2PNY2kUYkL46lsQ32WC8an5zklnVZiK58HmuR3xdsF2htO1tLmgbDqYeB2gW7bT97/X4KPtVlHBzzWebtxMi+luMgRaDV72wqSpOVn2Y0MNZ8LqMMkGWRe87GjrxTcAKA+A7H/98qt1dgyu5PdsD3R70ThEuidkZLBR1m1BfLsvmH2X2rMhc0sgRVlP9U1y2vK6R1iH1ouqUHjLSDlu0MX8/ggYG0DE5v26U7iGjaLf64owZLuYe1Hdt/8X1xE/7v8VCDmvwFazljywxOCTgAAAAASUVORK5CYII=\n", - "text/latex": [ - "tthetadd.T := $\\displaystyle \\left[\\begin{matrix}\\ddot{p}_{1} & \\ddot{p}_{2} & \\ddot{q}_{1}\\end{matrix}\\right]$" - ], - "text/plain": [ - "tthetadd.T := [p̈₁ p̈₂ q̈₁]" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "text/plain": [ - "---" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], + "outputs": [], "source": [ "t = sp.Symbol('t') # time variable\n", "\n", @@ -196,7 +63,7 @@ }, { "cell_type": "code", - "execution_count": 3, + "execution_count": null, "metadata": {}, "outputs": [], "source": [ @@ -210,26 +77,9 @@ }, { "cell_type": "code", - "execution_count": 4, + "execution_count": null, "metadata": {}, - "outputs": [ - { - "data": { - "image/png": "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\n", - "text/latex": [ - "$\\displaystyle \\left[\\begin{matrix}\\cos{\\left(q_{1} \\right)} & - \\sin{\\left(q_{1} \\right)}\\\\\\sin{\\left(q_{1} \\right)} & \\cos{\\left(q_{1} \\right)}\\end{matrix}\\right]$" - ], - "text/plain": [ - "⎡cos(q₁) -sin(q₁)⎤\n", - "⎢ ⎥\n", - "⎣sin(q₁) cos(q₁) ⎦" - ] - }, - "execution_count": 4, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ "Rz(q1) # rotation matrix" ] @@ -243,178 +93,9 @@ }, { "cell_type": "code", - "execution_count": 5, + "execution_count": null, "metadata": {}, - "outputs": [ - { - "data": { - "image/png": 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- "text/latex": [ - "S1 := $\\displaystyle \\left[\\begin{matrix}s_{1} \\cos{\\left(q_{1} \\right)}\\\\s_{1} \\sin{\\left(q_{1} \\right)}\\end{matrix}\\right]$" - ], - "text/plain": [ - "S1 := ⎡s₁⋅cos(q₁)⎤\n", - "⎢ ⎥\n", - "⎣s₁⋅sin(q₁)⎦" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "text/plain": [ - "---" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "image/png": 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- "text/latex": [ - "G1 := $\\displaystyle \\left[\\begin{matrix}l_{1} \\cos{\\left(q_{1} \\right)}\\\\l_{1} \\sin{\\left(q_{1} \\right)}\\end{matrix}\\right]$" - ], - "text/plain": [ - "G1 := ⎡l₁⋅cos(q₁)⎤\n", - "⎢ ⎥\n", - "⎣l₁⋅sin(q₁)⎦" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "text/plain": [ - "---" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "image/png": 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anOKHGYYBjlHFHwYZwiuzat8qQ1WWBfH7xbIUZPXu9Sf6ObTkbAjgDKjvgyBDdHiHtfDvRDaXbW+jVgCFZVMMvYTOTLB/GKSYhMsiLqm/spRPj12y4NCz738wRx2rnVkBnKQDOJLGnrFL4MQk4ByA2wLwyGltL6j04cRksrO7S+DeSiAe32LUjPczyzF7CA4hXBhzem1R7tEugV0CK5IA515ufBObMf4/qiiYHRNbBGcAAAAASUVORK5CYII=\n", - "text/latex": [ - "S2 := $\\displaystyle \\left[\\begin{matrix}l_{1} \\cos{\\left(q_{1} \\right)} + s_{2} \\cos{\\left(p_{1} + q_{1} \\right)}\\\\l_{1} \\sin{\\left(q_{1} \\right)} + s_{2} \\sin{\\left(p_{1} + q_{1} \\right)}\\end{matrix}\\right]$" - ], - "text/plain": [ - "S2 := ⎡l₁⋅cos(q₁) + s₂⋅cos(p₁ + q₁)⎤\n", - "⎢ ⎥\n", - "⎣l₁⋅sin(q₁) + s₂⋅sin(p₁ + q₁)⎦" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "text/plain": [ - "---" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "image/png": 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BAAAAAElFTkSuQmCC\n", - "text/latex": [ - "G2 := $\\displaystyle \\left[\\begin{matrix}l_{1} \\cos{\\left(q_{1} \\right)} + l_{2} \\cos{\\left(p_{1} + q_{1} \\right)}\\\\l_{1} \\sin{\\left(q_{1} \\right)} + l_{2} \\sin{\\left(p_{1} + q_{1} \\right)}\\end{matrix}\\right]$" - ], - "text/plain": [ - "G2 := ⎡l₁⋅cos(q₁) + l₂⋅cos(p₁ + q₁)⎤\n", - "⎢ ⎥\n", - "⎣l₁⋅sin(q₁) + l₂⋅sin(p₁ + q₁)⎦" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "text/plain": [ - "---" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "image/png": "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\n", - "text/latex": [ - "G2b := $\\displaystyle \\left[\\begin{matrix}l_{3} \\cos{\\left(p_{2} \\right)} + l_{4}\\\\l_{3} \\sin{\\left(p_{2} \\right)}\\end{matrix}\\right]$" - ], - "text/plain": [ - "G2b := ⎡l₃⋅cos(p₂) + l₄⎤\n", - "⎢ ⎥\n", - "⎣ l₃⋅sin(p₂) ⎦" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "text/plain": [ - "---" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "image/png": 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- "text/latex": [ - "S3 := $\\displaystyle \\left[\\begin{matrix}l_{4} + s_{3} \\cos{\\left(p_{2} \\right)}\\\\s_{3} \\sin{\\left(p_{2} \\right)}\\end{matrix}\\right]$" - ], - "text/plain": [ - "S3 := ⎡l₄ + s₃⋅cos(p₂)⎤\n", - "⎢ ⎥\n", - "⎣ s₃⋅sin(p₂) ⎦" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "text/plain": [ - "---" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "image/png": 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CHd2kPYLQw+jfeQtn0sbUHh25saQYB0/fH3u8vUjl525ji8aUZ35SZz0hZboo6lTEE5MeL/T1VvG6ZnAzwX2xgG92M3h22jDQUMqPCmGyU96pgd0HTi6A6GFCIuD4DrpeyitO4Yq2Y5DiW/nIh7dwlzhc6yqqLxU+Eb5XCsYr8ieP40SbqA2HxVXpS3Q6mSo2R2y8GL0cyWCr1FuqM4dDbaO2qPwtOslhY9A7aWdeFlOnCI73BT8pGxs6+TvC+W4C79namGS7ZkxN6mxCXrsU39oFy3ok4exUQlyy2un1qLZM0gfFHDPx38rcq2AAu4mNsoyAYR/RLhrIIzjn0enfTVoqH05anSqjSXBODaZRBBsKU/pC1qmd3lF34r06fXWIhEdWxFedPJLo7edBXtHLjDYGX6XsLGpj4pVFJs7cwBaPdt2LVffcbWzRmPLMl9JZT/alnQoD1SZddhlrgS1z74U+GRXbZI5p7q1FOrMduyxnwIn6vV2Y6nC81B0ciWbJbFYjQ5zJyjsXRPWFrBW6kzADonucNCSjZn3BY8/hizdsC/6yfTFhKKCF10N72GpjdF/KzqI2ZvKQLp4qcLT6QvHwWNmqEZ+1jcGbwpIxBc+ldEbfAUo7FQhh8sHDvg1UrUvwmRTwdIHr3gSh62Ed6qOMtYCD4KZhD7xB0HdwOMpjcjqatHoNpy/Y0m9xStM9jNcY1Zd4ZDCzipw6FqlKX7As2rEN6O/qjDTO5IHKrxRXA56eHDYGjyXtLGlj4plj2wcKPE0ZHpyA4AhcCxsTn3PHVEmdBfFfhFSZBCtaVlUYyJZVIIOdVQvHXYoc3NEv91UwUJTCTsjtWnTN0zKPFZgwyKec83LynyuQD20AhsmHIqEzBi+VSbsY0OYntTXjtxWl7c5ibabycEpG21TdvctH9SU+kRv3U3hMe2wCrlVfyBbgGNV0hh2Fx8FdaV0/OWwMDkvZ2aiNQRi2pcB8wSP/qXe9roWNib+5YwrRlNIZfQe4CKkCCQlsbPs6myIMS5WHO5LQXuWs7GNOYSx/+IRTwNdNgFvhoHB0U1p5GHboV9fuiE5xktYu7mFa7TCww9r2Q3xLr9VvUl+eNiZjzsQP/prYHGnoTnlV6ksEQrud3ZfcDQZZTSUky11tjP6Es5idqe8jG1Pepcj6R4HdoukFvgEWipbnMvhRvbO3MfGAHuaOqWI6C0L3iVvDjHa9SgKszufsHtyktaqH941YndHXFmAw2oDcgie09cb/QhkvlMa5svOD1nehUl2JlL5Y6a1y+BvZ21MnW20MVvaws40i+dBc9oR8sKXuAgVdkV/VwxOix2CTja0YU9XorPj/qZgGurEXKJM0hsMExTnqW+UTVwmijSMtXtTsGn6PVpX9qwxuwGEADpRmhTHJq6/HpO12Ar55FZFogq/LITHKX/PFgCGaLNeiracvXUM/fPAexeguVeWzdJaF8Amkom21jYHa81adnYku5oGvFOze632lWcUnx5vKi4Jo22Jjs8dULToTHZzEPLooKvVE595QwsSbqFZbNsdc3Fs5mvTFD6sWHCQTF59nOSg4/hQzKObwyk5gzm5I1U4L4iH6AtppqVjcW9CX6OfBAu6tAdxDu61wdAzzvthNvHN1Zk2yx6J3DxuDzirtTPxxxHV0zJVdsNs62GJjS8ZUVTqrcqeyTY/lWsvwWcHiNHbdUQkfN42nvkFWjvEz7TmXvs5UHIdmZ/trLreN1aQz0eJ2Ks2p7G9HDWOTQJNAk8CNk4A5FTv+4rMdvTNxXV/dOKk0hpsEmgSaBJoEZklg6DPUyPkQe/qLMzluDFngfLZBk0CTQJNAk0CTQEoC3EM2n0Hs/Mb/AQN0IkUxDjamAAAAAElFTkSuQmCC\n", - "text/latex": [ - "constraints := $\\displaystyle \\left[\\begin{matrix}l_{1} \\cos{\\left(q_{1} \\right)} + l_{2} \\cos{\\left(p_{1} + q_{1} \\right)} - l_{3} \\cos{\\left(p_{2} \\right)} - l_{4}\\\\l_{1} \\sin{\\left(q_{1} \\right)} + l_{2} \\sin{\\left(p_{1} + q_{1} \\right)} - l_{3} \\sin{\\left(p_{2} \\right)}\\end{matrix}\\right]$" - ], - "text/plain": [ - "constraints := ⎡l₁⋅cos(q₁) + l₂⋅cos(p₁ + q₁) - l₃⋅cos(p₂) - l₄⎤\n", - "⎢ ⎥\n", - "⎣ l₁⋅sin(q₁) + l₂⋅sin(p₁ + q₁) - l₃⋅sin(p₂) ⎦" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "text/plain": [ - "---" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], + "outputs": [], "source": [ "# unit vectors\n", "ex = sp.Matrix([1, 0]) \n", @@ -448,67 +129,9 @@ }, { "cell_type": "code", - "execution_count": 6, + "execution_count": null, "metadata": {}, - "outputs": [ - { - "data": { - "image/png": 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\n", - "text/latex": [ - "T := $\\displaystyle \\frac{J_{1} \\dot{q}_{1}^{2}}{2} + \\frac{J_{2} \\left(\\dot{p}_{1} + \\dot{q}_{1}\\right)^{2}}{2} + \\frac{J_{3} \\dot{p}_{2}^{2}}{2} + \\frac{m_{1} \\dot{q}_{1}^{2} s_{1}^{2} \\sin^{2}{\\left(q_{1} \\right)}}{2} + \\frac{m_{1} \\dot{q}_{1}^{2} s_{1}^{2} \\cos^{2}{\\left(q_{1} \\right)}}{2} + \\frac{m_{2} \\left(- l_{1} \\dot{q}_{1} \\sin{\\left(q_{1} \\right)} - s_{2} \\left(\\dot{p}_{1} + \\dot{q}_{1}\\right) \\sin{\\left(p_{1} + q_{1} \\right)}\\right)^{2}}{2} + \\frac{m_{2} \\left(l_{1} \\dot{q}_{1} \\cos{\\left(q_{1} \\right)} + s_{2} \\left(\\dot{p}_{1} + \\dot{q}_{1}\\right) \\cos{\\left(p_{1} + q_{1} \\right)}\\right)^{2}}{2} + \\frac{m_{3} \\dot{p}_{2}^{2} s_{3}^{2} \\sin^{2}{\\left(p_{2} \\right)}}{2} + \\frac{m_{3} \\dot{p}_{2}^{2} s_{3}^{2} \\cos^{2}{\\left(p_{2} \\right)}}{2}$" - ], - "text/plain": [ - "T := 2 2 2 2 2 2 2 2 2 \n", - "J₁⋅q̇₁ J₂⋅(ṗ₁ + q̇₁) J₃⋅ṗ₂ m₁⋅q̇₁ ⋅s₁ ⋅sin (q₁) m₁⋅q̇₁ ⋅s₁ ⋅cos (\n", - "────── + ───────────── + ────── + ─────────────────── + ─────────────────── + \n", - " 2 2 2 2 2 \n", - "\n", - " 2 \n", - "q₁) m₂⋅(-l₁⋅q̇₁⋅sin(q₁) - s₂⋅(ṗ₁ + q̇₁)⋅sin(p₁ + q₁)) m₂⋅(l₁⋅q̇₁⋅cos(q₁)\n", - "──────────────────────────────────────────────── + ───────────────────────────\n", - " 2 2 \n", - "\n", - " 2 2 2 2 2 2 2 \n", - " + s₂⋅(ṗ₁ + q̇₁)⋅cos(p₁ + q₁)) m₃⋅ṗ₂ ⋅s₃ ⋅sin (p₂) m₃⋅ṗ₂ ⋅s₃ ⋅cos (p₂)\n", - "──────────────────── + ─────────────────── + ───────────────────\n", - " 2 2 " - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "text/plain": [ - "---" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "image/png": 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- "text/latex": [ - "V := $\\displaystyle g m_{1} s_{1} \\sin{\\left(q_{1} \\right)} + g m_{2} \\left(l_{1} \\sin{\\left(q_{1} \\right)} + s_{2} \\sin{\\left(p_{1} + q_{1} \\right)}\\right) + g m_{3} s_{3} \\sin{\\left(p_{2} \\right)}$" - ], - "text/plain": [ - "V := g⋅m₁⋅s₁⋅sin(q₁) + g⋅m₂⋅(l₁⋅sin(q₁) + s₂⋅sin(p₁ + q₁)) + g⋅m₃⋅s₃⋅sin(p₂)" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "text/plain": [ - "---" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], + "outputs": [], "source": [ "# kinetic energy\n", "\n", @@ -536,20 +159,9 @@ }, { "cell_type": "code", - "execution_count": 7, + "execution_count": null, "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "" - ] - }, - "execution_count": 7, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ "# useful to test recent development of the lib\n", "\n", @@ -559,24 +171,9 @@ }, { "cell_type": "code", - "execution_count": 8, + "execution_count": null, "metadata": {}, - "outputs": [ - { - "data": { - "application/vnd.jupyter.widget-view+json": { - "model_id": "4878ccdb452d473b8b53af05097436e6", - "version_major": 2, - "version_minor": 0 - }, - "text/plain": [ - "interactive(children=(Checkbox(value=False, description='solve constraints (fmin)'), FloatSlider(value=1.57079…" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], + "outputs": [], "source": [ "vis = vt.Visualiser(ttheta, xlim=(-2, 4), ylim=(-3, 3))\n", "vis.add_linkage(st.col_stack(B1, G1, G2,).subs(parameter_values))\n", @@ -596,34 +193,18 @@ }, { "cell_type": "code", - "execution_count": 9, + "execution_count": null, "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "[0, 1, 2]\n" - ] - } - ], + "outputs": [], "source": [ "print(list(npy.arange(3)))" ] }, { "cell_type": "code", - "execution_count": 12, + "execution_count": null, "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "Wall time: 12.2 s\n" - ] - } - ], + "outputs": [], "source": [ "external_general_forces = [0 , 0, tau1]\n", "\n", @@ -632,26 +213,9 @@ }, { "cell_type": "code", - "execution_count": 26, + "execution_count": null, "metadata": {}, - "outputs": [ - { - "data": { - "image/png": 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CHd2kPYLQw+jfeQtn0sbUHh25saQYB0/fH3u8vUjl525ji8aUZ35SZz0hZboo6lTEE5MeL/T1VvG6ZnAzwX2xgG92M3h22jDQUMqPCmGyU96pgd0HTi6A6GFCIuD4DrpeyitO4Yq2Y5DiW/nIh7dwlzhc6yqqLxU+Eb5XCsYr8ieP40SbqA2HxVXpS3Q6mSo2R2y8GL0cyWCr1FuqM4dDbaO2qPwtOslhY9A7aWdeFlOnCI73BT8pGxs6+TvC+W4C79namGS7ZkxN6mxCXrsU39oFy3ok4exUQlyy2un1qLZM0gfFHDPx38rcq2AAu4mNsoyAYR/RLhrIIzjn0enfTVoqH05anSqjSXBODaZRBBsKU/pC1qmd3lF34r06fXWIhEdWxFedPJLo7edBXtHLjDYGX6XsLGpj4pVFJs7cwBaPdt2LVffcbWzRmPLMl9JZT/alnQoD1SZddhlrgS1z74U+GRXbZI5p7q1FOrMduyxnwIn6vV2Y6nC81B0ciWbJbFYjQ5zJyjsXRPWFrBW6kzADonucNCSjZn3BY8/hizdsC/6yfTFhKKCF10N72GpjdF/KzqI2ZvKQLp4qcLT6QvHwWNmqEZ+1jcGbwpIxBc+ldEbfAUo7FQhh8sHDvg1UrUvwmRTwdIHr3gSh62Ed6qOMtYCD4KZhD7xB0HdwOMpjcjqatHoNpy/Y0m9xStM9jNcY1Zd4ZDCzipw6FqlKX7As2rEN6O/qjDTO5IHKrxRXA56eHDYGjyXtLGlj4plj2wcKPE0ZHpyA4AhcCxsTn3PHVEmdBfFfhFSZBCtaVlUYyJZVIIOdVQvHXYoc3NEv91UwUJTCTsjtWnTN0zKPFZgwyKec83LynyuQD20AhsmHIqEzBi+VSbsY0OYntTXjtxWl7c5ibabycEpG21TdvctH9SU+kRv3U3hMe2wCrlVfyBbgGNV0hh2Fx8FdaV0/OWwMDkvZ2aiNQRi2pcB8wSP/qXe9roWNib+5YwrRlNIZfQe4CKkCCQlsbPs6myIMS5WHO5LQXuWs7GNOYSx/+IRTwNdNgFvhoHB0U1p5GHboV9fuiE5xktYu7mFa7TCww9r2Q3xLr9VvUl+eNiZjzsQP/prYHGnoTnlV6ksEQrud3ZfcDQZZTSUky11tjP6Es5idqe8jG1Pepcj6R4HdoukFvgEWipbnMvhRvbO3MfGAHuaOqWI6C0L3iVvDjHa9SgKszufsHtyktaqH941YndHXFmAw2oDcgie09cb/QhkvlMa5svOD1nehUl2JlL5Y6a1y+BvZ21MnW20MVvaws40i+dBc9oR8sKXuAgVdkV/VwxOix2CTja0YU9XorPj/qZgGurEXKJM0hsMExTnqW+UTVwmijSMtXtTsGn6PVpX9qwxuwGEADpRmhTHJq6/HpO12Ar55FZFogq/LITHKX/PFgCGaLNeiracvXUM/fPAexeguVeWzdJaF8Amkom21jYHa81adnYku5oGvFOze632lWcUnx5vKi4Jo22Jjs8dULToTHZzEPLooKvVE595QwsSbqFZbNsdc3Fs5mvTFD6sWHCQTF59nOSg4/hQzKObwyk5gzm5I1U4L4iH6AtppqVjcW9CX6OfBAu6tAdxDu61wdAzzvthNvHN1Zk2yx6J3DxuDzirtTPxxxHV0zJVdsNs62GJjS8ZUVTqrcqeyTY/lWsvwWcHiNHbdUQkfN42nvkFWjvEz7TmXvs5UHIdmZ/trLreN1aQz0eJ2Ks2p7G9HDWOTQJNAk8CNk4A5FTv+4rMdvTNxXV/dOKk0hpsEmgSaBJoEZklg6DPUyPkQe/qLMzluDFngfLZBk0CTQJNAk0CTQEoC3EM2n0Hs/Mb/AQN0IkUxDjamAAAAAElFTkSuQmCC", - "text/latex": [ - "$\\displaystyle \\left[\\begin{matrix}l_{1} \\cos{\\left(q_{1} \\right)} + l_{2} \\cos{\\left(p_{1} + q_{1} \\right)} - l_{3} \\cos{\\left(p_{2} \\right)} - l_{4}\\\\l_{1} \\sin{\\left(q_{1} \\right)} + l_{2} \\sin{\\left(p_{1} + q_{1} \\right)} - l_{3} \\sin{\\left(p_{2} \\right)}\\end{matrix}\\right]$" - ], - "text/plain": [ - "⎡l₁⋅cos(q₁) + l₂⋅cos(p₁ + q₁) - l₃⋅cos(p₂) - l₄⎤\n", - "⎢ ⎥\n", - "⎣ l₁⋅sin(q₁) + l₂⋅sin(p₁ + q₁) - l₃⋅sin(p₂) ⎦" - ] - }, - "execution_count": 26, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ "# condition that endeffectors of the two manipulators are at the same place (x and y)\n", "\n", @@ -660,58 +224,9 @@ }, { "cell_type": "code", - "execution_count": 27, + "execution_count": null, "metadata": {}, - "outputs": [ - { - "data": { - "image/png": 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", - "text/latex": [ - "$\\displaystyle \\left[\\begin{matrix}J_{2} \\ddot{p}_{1} + J_{2} \\ddot{q}_{1} + g m_{2} s_{2} \\cos{\\left(p_{1} + q_{1} \\right)} + l_{1} m_{2} \\ddot{q}_{1} s_{2} \\cos{\\left(p_{1} \\right)} + l_{1} m_{2} \\dot{q}_{1}^{2} s_{2} \\sin{\\left(p_{1} \\right)} + l_{2} \\lambda_{1} \\sin{\\left(p_{1} + q_{1} \\right)} - l_{2} \\lambda_{2} \\cos{\\left(p_{1} + q_{1} \\right)} + m_{2} \\ddot{p}_{1} s_{2}^{2} + m_{2} \\ddot{q}_{1} s_{2}^{2}\\\\J_{3} \\ddot{p}_{2} + g m_{3} s_{3} \\cos{\\left(p_{2} \\right)} - l_{3} \\lambda_{1} \\sin{\\left(p_{2} \\right)} + l_{3} \\lambda_{2} \\cos{\\left(p_{2} \\right)} + m_{3} \\ddot{p}_{2} s_{3}^{2}\\\\J_{1} \\ddot{q}_{1} + J_{2} \\ddot{p}_{1} + J_{2} \\ddot{q}_{1} + g l_{1} m_{2} \\cos{\\left(q_{1} \\right)} + g m_{1} s_{1} \\cos{\\left(q_{1} \\right)} + g m_{2} s_{2} \\cos{\\left(p_{1} + q_{1} \\right)} + l_{1}^{2} m_{2} \\ddot{q}_{1} + l_{1} \\lambda_{1} \\sin{\\left(q_{1} \\right)} - l_{1} \\lambda_{2} \\cos{\\left(q_{1} \\right)} + l_{1} m_{2} \\ddot{p}_{1} s_{2} \\cos{\\left(p_{1} \\right)} - l_{1} m_{2} \\dot{p}_{1}^{2} s_{2} \\sin{\\left(p_{1} \\right)} - 2 l_{1} m_{2} \\dot{p}_{1} \\dot{q}_{1} s_{2} \\sin{\\left(p_{1} \\right)} + 2 l_{1} m_{2} \\ddot{q}_{1} s_{2} \\cos{\\left(p_{1} \\right)} + l_{2} \\lambda_{1} \\sin{\\left(p_{1} + q_{1} \\right)} - l_{2} \\lambda_{2} \\cos{\\left(p_{1} + q_{1} \\right)} + m_{1} \\ddot{q}_{1} s_{1}^{2} + m_{2} \\ddot{p}_{1} s_{2}^{2} + m_{2} \\ddot{q}_{1} s_{2}^{2} - \\tau_{1}\\end{matrix}\\right]$" - ], - "text/plain": [ - "⎡ \n", - "⎢ \n", - "⎢ \n", - "⎢ \n", - "⎢ \n", - "⎢ \n", - "⎢ \n", - "⎣J₁⋅q̈₁ + J₂⋅p̈₁ + J₂⋅q̈₁ + g⋅l₁⋅m₂⋅cos(q₁) + g⋅m₁⋅s₁⋅cos(q₁) + g⋅m₂⋅s₂⋅cos(p₁\n", - "\n", - " 2 \n", - " J₂⋅p̈₁ + J₂⋅q̈₁ + g⋅m₂⋅s₂⋅cos(p₁ + q₁) + l₁⋅m₂⋅q̈₁⋅s₂⋅cos(p₁) + l₁⋅m₂⋅q̇₁ ⋅s₂\n", - " \n", - " \n", - " J₃⋅p̈₂ + g⋅m₃⋅s₃⋅cos(p₂) - l₃⋅λ₁⋅sin(\n", - " \n", - " 2 \n", - " + q₁) + l₁ ⋅m₂⋅q̈₁ + l₁⋅λ₁⋅sin(q₁) - l₁⋅λ₂⋅cos(q₁) + l₁⋅m₂⋅p̈₁⋅s₂⋅cos(p₁) - l\n", - "\n", - " 2 2 \n", - "⋅sin(p₁) + l₂⋅λ₁⋅sin(p₁ + q₁) - l₂⋅λ₂⋅cos(p₁ + q₁) + m₂⋅p̈₁⋅s₂ + m₂⋅q̈₁⋅s₂ \n", - " \n", - " 2 \n", - "p₂) + l₃⋅λ₂⋅cos(p₂) + m₃⋅p̈₂⋅s₃ \n", - " \n", - " 2 \n", - "₁⋅m₂⋅ṗ₁ ⋅s₂⋅sin(p₁) - 2⋅l₁⋅m₂⋅ṗ₁⋅q̇₁⋅s₂⋅sin(p₁) + 2⋅l₁⋅m₂⋅q̈₁⋅s₂⋅cos(p₁) + l\n", - "\n", - " ⎤\n", - " ⎥\n", - " ⎥\n", - " ⎥\n", - " ⎥\n", - " ⎥\n", - " 2 2 2 ⎥\n", - "₂⋅λ₁⋅sin(p₁ + q₁) - l₂⋅λ₂⋅cos(p₁ + q₁) + m₁⋅q̈₁⋅s₁ + m₂⋅p̈₁⋅s₂ + m₂⋅q̈₁⋅s₂ " - ] - }, - "execution_count": 27, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ "# ODE-part of the equation\n", "\n", @@ -727,7 +242,7 @@ }, { "cell_type": "code", - "execution_count": 13, + "execution_count": null, "metadata": {}, "outputs": [], "source": [ @@ -739,54 +254,9 @@ }, { "cell_type": "code", - "execution_count": 14, + "execution_count": null, "metadata": {}, - "outputs": [ - { - "data": { - "image/png": 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- "text/latex": [ - "(dae.yy).T := $\\displaystyle \\left[\\begin{matrix}p_{1} & p_{2} & q_{1} & \\dot{p}_{1} & \\dot{p}_{2} & \\dot{q}_{1} & \\lambda_{1} & \\lambda_{2}\\end{matrix}\\right]$" - ], - "text/plain": [ - "(dae.yy).T := [p₁ p₂ q₁ ṗ₁ ṗ₂ q̇₁ λ₁ λ₂]" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "text/plain": [ - "---" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "image/png": "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\n", - "text/latex": [ - "(dae.yyd).T := $\\displaystyle \\left[\\begin{matrix}\\dot{y}_{1} & \\dot{y}_{2} & \\dot{y}_{3} & \\dot{y}_{4} & \\dot{y}_{5} & \\dot{y}_{6} & \\dot{y}_{7} & \\dot{y}_{8}\\end{matrix}\\right]$" - ], - "text/plain": [ - "(dae.yyd).T := [ẏ₁ ẏ₂ ẏ₃ ẏ₄ ẏ₅ ẏ₆ ẏ₇ ẏ₈]" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "text/plain": [ - "---" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], + "outputs": [], "source": [ "# show dae variables\n", "\n", @@ -803,43 +273,9 @@ }, { "cell_type": "code", - "execution_count": 15, + "execution_count": null, "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "Optimization terminated successfully.\n", - " Current function value: 0.000000\n", - " Iterations: 91\n", - " Function evaluations: 176\n", - "Optimization terminated successfully.\n", - " Current function value: 0.000000\n", - " Iterations: 33\n", - " Function evaluations: 67\n" - ] - }, - { - "data": { - "text/plain": [ - "(yy0, yyd0) := (array([ 0.3 , 1.74961317, 0.50948621, 0. , 0. , 0. , -0.27535424, 0.5455313 ]),\n", - " array([ 0. , 0. , 0. , 23.53968609, 2.82766884, -14.48960943, -0. , 0. ]))" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "text/plain": [ - "---" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], + "outputs": [], "source": [ "yy0, yyd0 = dae.calc_consistent_init_vals(p1=0.3) ##:\n", "\n", @@ -851,7 +287,7 @@ }, { "cell_type": "code", - "execution_count": 16, + "execution_count": null, "metadata": {}, "outputs": [], "source": [ @@ -870,38 +306,9 @@ }, { "cell_type": "code", - "execution_count": 17, + "execution_count": null, "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "No initialization defined for the problem.\n", - "No finalization defined for the problem.\n", - "Final Run Statistics: fourbar linkage \n", - "\n", - " Number of steps : 3604\n", - " Number of function evaluations : 5749\n", - " Number of Jacobian evaluations : 204\n", - " Number of function eval. due to Jacobian eval. : 1632\n", - " Number of error test failures : 87\n", - " Number of nonlinear iterations : 5749\n", - " Number of nonlinear convergence failures : 0\n", - "\n", - "Solver options:\n", - "\n", - " Solver : IDA (BDF)\n", - " Maximal order : 5\n", - " Suppressed algebr. variables : False\n", - " Tolerances (absolute) : 1e-06\n", - " Tolerances (relative) : 1e-06\n", - "\n", - "Simulation interval : 0.0 - 10.0 seconds.\n", - "Elapsed simulation time: 5.807001878000051 seconds.\n" - ] - } - ], + "outputs": [], "source": [ "tfinal = 10.0 # specify the final time\n", "ncp = 500 # number of communication points (number of return points)\n", @@ -912,7 +319,7 @@ }, { "cell_type": "code", - "execution_count": 18, + "execution_count": null, "metadata": {}, "outputs": [], "source": [ @@ -922,32 +329,9 @@ }, { "cell_type": "code", - "execution_count": 19, + "execution_count": null, "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "Text(0.5, 1.0, 'angular velocities')" - ] - }, - "execution_count": 19, - "metadata": {}, - "output_type": "execute_result" - }, - { - "data": { - "image/png": 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\n", - "text/plain": [ - "
" - ] - }, - "metadata": { - "needs_background": "light" - }, - "output_type": "display_data" - } - ], + "outputs": [], "source": [ "fig, (ax1, ax2) = plt.subplots(1, 2, figsize=(15, 7)); plt.sca(ax1)\n", "\n", @@ -967,34 +351,9 @@ }, { "cell_type": "code", - "execution_count": 20, + "execution_count": null, "metadata": {}, - "outputs": [ - { - "data": { - "image/png": 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8/qj0uS62CsAltqpXVhboj37XWp0aPXNIZeVK46x8zVHvJm9VvvajM66EeOy2v1QLGUfmn+fkW3mb09kAJ/SfIxvGgV2xMT1RGWzM5kB47dbOCPdZNibpFMUlM0w5pg3pfCrDF+lfBOJ8gz1tlAxnwoyFMAqeoDzE0dp21b07P1RIfZxj66xS9zgk0vkzWXC/r7hzggpR2L8V9n2A+6HKgWsUVB+FIr/5x26l4aBZDR/90XC0keNE8KXdtaDytUPpM+FrZ1SzbrErr0QXZ3sUYqDfKkTujyaNSqP8FnWWiTTnoejon7pw7GYTsEGkt+yM7k8OwnHvdmaWjbmYyQFmPKeE3v7FYFZrKBcrRBTKFMxWcUpqAY7poeqhaCF0nVVsW5nyOE3OW5uVqOK2gutzPvQZbdfjgxKh/PQRgrV/oJyup7paTjss3InTHzTZElS+3nDj3Pg6SMYkuzg/dNaB4sg7utvVwZsC0ldFNqWzwpmJ8BuPIPr1r9Iam6D71mRUeWP11je9bAAeavFTsDNJG3OZIWnUOPvy5onfZerPzZrdvxjM6pDVmz0lirLhDGH6C8XZcmyUD4R9Gn2z3YoivtbFCq9v61PFGviribUjCFwOoGsLn6AwM0sUp7vNifI5ZVMecXO8fX1Z0xicoWWtzpyw8rVNvZPxVfKCkzF5CbFy+q1805swjydD3ZFBmLhC3CabvBDemhTqHj3ems7iBP/xdEEvOeYIwemcyhDiNI0Pg3VRdUvw72TyGBJnZnyWjUk6RRGcR6vBLcYkS2sJ58yBtKov1D8Mvhs2rHZxcKwabaYWzt6s6ANFnunCgdIGq7NfdcWMhLJXAR6GaW0dCR+UiQvHfdA9SojRAu+hgAG8Hlp4bjnhtoRcVb72M6KXr+JFVJ69/OB8xkwE+zEaUEJ9Isv8GS86GAOzPd28Tems8Hc6pdCcXUt3hTzbpugC5abo7UF1S/Bv93YGmuoSWaf5rgtqZgBGYnS74GaSSuwyultu7v3k/kUUlOc2BOoioTScOc7QxtEUUZ4br0LOAnhHirM6hO+p4vebgmUizHDAuwXq141Fic75BZlO4ZQ/hw+0nZtZBd0tFq18FSnPkK9LCAhboUc6oDSnq6IZDqQFStuczgYI4vxYNV4HaUTR3VedtJPenpk8TrYxfU6RbUaEtAvMyliRdBndLTf3fnL/HjdmDDGnDl4oXsyZ4PjYdm1AbbBliRON0aIpt0AEZ53Cl+a7K3O2sY6MBAVHAMam2+6I6pOKVr62ydal/1752h7VtDt2ZNjJ6QJOJKavlNuyzh7hrfFhX7CdRb9aBWEmwjnI42Qbk3WK3hm8V9hsxymOM2GJ/WQiwQdXG9o/OOn6qKv7cAnGhU9OgXMDukcoeS2jy3wrw2fWWnWUwX1XKbtlqO9mtEQmAA7uUbeecLlWWmvm48dwpHDdugPu3QRnQLnFigh3Jhm9cgUPdFW+TqP86nyNoHnHpx3pRIa3vyiv9UCN7r/37aDPKdiUzoIkY1SAw24mukojjjP8UnH0ejPg8TkLO6OxDLIxMeJfxhI7aSgXZ2oYax6sIYShc1coamYQ9PYPM3Xh4P4KW1QaB/A4bx6qeR/k4Si7Ds6yEVQIynappaHc7qlPpSHknDe6VaPumZHQB8JOOvngQ/pzXaTb3j+Ky4e+U8r9UmWpFwPqMA4zEObQu1uqsbq5NByr4Zcrt3Re5esNRc+NrwfJqMkwsgWgb8grE1F0izIpnWWrEV0zx4hDRXfvUoe6Ediqztr4OYoxvcWWNK9URcZy6qRzksdeGxMj9qB/yYhVrGllKCDl4QEg3q3MTjqUz2qXWfXR+4lKY2WPYYltQzWIKx+HjaHKlmsq1MhkCojGu+GrcEV+TvKgzWQCn7BiirdKx7HzqgjGuRc83Xv1tq8h384i/FNbn4yd8WO9uugjcM1fnQI8WTlk5cYBftZxDsCcbRz6q1CeAnviKyuv1KqsPKX210OKt6wUUztSJUe5JP8+OTtTV4olRXNi25qxsCXK3zrZFulRS8rjP+d4KKE5rFfctmpRRrZxeaT+ndKPHq33ZVlpIvQVVqCAaF35ugKdT9FFl7e6vy080FF2fWKvfTVoKn+w3jaVVooIt0/GzmisrIqvLleibe1mHAXY1+dc5shhiXHMSnF6KB2fdzvoco5RIU60cZKK54CtnSEr0lwbNW8cBSpfx9FrT6Ub3koP2X7m+QKA5wh479Kdpd4ktX9H6m27cqE74fTJ2pm6UiwkVHOblVAye8TpHa3yFmibQ/++77DO7abWj1Cg8jVClDNJKsnbPZJI9NiVnRG+bqVYneIepa3iXClQKVApUCmwKAXMKdr2KU8qsR3XgO45rK1QKVApUClQKVApcHYU6Po8DdD5QHv6lPMlDlTtYj+5QqVApUClQKVApcC5UoDnNsznETq/938yw4JL3xmguwAAAABJRU5ErkJggg==\n", - "text/latex": [ - "joint_pos_expr := $\\displaystyle \\left[\\begin{matrix}0 & 0.8 \\cos{\\left(q_{1} \\right)} & 0.8 \\cos{\\left(q_{1} \\right)} + 1.5 \\cos{\\left(p_{1} + q_{1} \\right)} & 2\\\\0 & 0.8 \\sin{\\left(q_{1} \\right)} & 0.8 \\sin{\\left(q_{1} \\right)} + 1.5 \\sin{\\left(p_{1} + q_{1} \\right)} & 0\\end{matrix}\\right]$" - ], - "text/plain": [ - "joint_pos_expr := ⎡0 0.8⋅cos(q₁) 0.8⋅cos(q₁) + 1.5⋅cos(p₁ + q₁) 2⎤\n", - "⎢ ⎥\n", - "⎣0 0.8⋅sin(q₁) 0.8⋅sin(q₁) + 1.5⋅sin(p₁ + q₁) 0⎦" - ] - }, - "metadata": {}, - "output_type": "display_data" - }, - { - "data": { - "text/plain": [ - "---" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], + "outputs": [], "source": [ "joint_pos_expr = st.col_stack(B1, G1, G2, B2).subs(parameter_values) ##:\n", "joint_pos_func = st.expr_to_func(mod.tt, joint_pos_expr, keep_shape=True)" @@ -1002,21 +361,9 @@ }, { "cell_type": "code", - "execution_count": 21, + "execution_count": null, "metadata": {}, - "outputs": [ - { - "data": { - "image/png": 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" - ] - }, - "execution_count": 21, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ "# create object for animation\n", "simanim = vt.SimAnimation(mod.xx[:3], tt_sol, yy_sol[:, :3], figsize=(14, 7))\n", @@ -1028,7 +375,7 @@ }, { "cell_type": "code", - "execution_count": 22, + "execution_count": null, "metadata": {}, "outputs": [], "source": [ @@ -1047,26 +394,9 @@ }, { "cell_type": "code", - "execution_count": 23, + "execution_count": null, "metadata": {}, - "outputs": [ - { - "data": { - "text/html": [ - "\n", - " \n", - " " - ], - "text/plain": [ - "" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], + "outputs": [], "source": [ "vt.display_video_file(fname)" ]