Trying to get the angles at each time step. The angles should be in radians 0 to pi. From my loop, the angles are qs, qe, qw. Each time we get a new angle by adding the q_dot. I am getting angle 10^4 , which does not make sense.
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for i=1:length(t)
if i~=1
dxdqs=la*cos(qs)+lf*cos(qs+qe)+lh*cos(qs+qe+qw);
dxdqe=lf*cos(qs+qe)+lh*cos(qs+qe+qw);
dxdqw=lh*cos(qs+qe+qw);
dydqs=la*sin(qs)+lf*sin(qs+qe)+lh*sin(qe+qs+qw);
dydqe=lf*sin(qs+qe)+lh*sin(qe+qs+qw);
dydqw=lh*sin(qe+qs+qw);
dtdqs=1;
dtdqe=1;
dtdqw=1;
J=[dxdqs dxdqe dxdqw; dydqs dydqe dydqw; dtdqs dtdqe dtdqw];
end
w=[1 0 0;0 1 0;0 0 1];
Jcross=inv(w)*J'*inv(J*inv(w)*J');
Q_dot(:,i)=Jcross*dxdt(:,i);
Q_dot(1,i)=qs+Q_dot(1,i);
Q_dot(2,i)=qe+Q_dot(2,i);
Q_dot(3,i)=qw+Q_dot(3,i);
qs=Q_dot(1,i);
qe=Q_dot(2,i);
qw=Q_dot(3,i);
% qw=0;
end
2 Comments
Jan
on 15 Feb 2021
We cannot run the code due to the missing variables t, l1, qs, qe, qw, lf, lh and so on.
All we know is that you obtain "angle 10^4" and that you assume to get something else.
So what is your question? What do you expect? What are the values of the variables? How can we help you?
Answers (1)
Image Analyst
on 16 Feb 2021
If you want equal spaced angles, and a certain number of them, do this:
allAngles = linspace(startingAngle, endingAngle, numberOfAngles);
assign the 3 inputs to some actual numbers and it should work.
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