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fullRobot.mos
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fullRobot.mos
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// name: fullRobot
// keywords: initialization MSL Example
// status: correct
// teardown_command: rm -rf Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.fullRobot* _Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.fullRobot* output.log
//
// initialization results
// Modelica Standard Library
//
loadModel(Modelica,{"3.1"});
simulate(Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.fullRobot, startTime=0.0, stopTime=0.0); getErrorString();
val(axis1.controller.PI.x, 0);
val(axis1.gear.spring.phi_rel, 0);
val(axis1.gear.spring.w_rel, 0);
val(axis1.motor.C.v, 0);
val(axis1.motor.La.i, 0);
val(axis2.controller.PI.x, 0);
val(axis2.gear.spring.phi_rel, 0);
val(axis2.gear.spring.w_rel, 0);
val(axis2.motor.C.v, 0);
val(axis2.motor.La.i, 0);
val(axis3.controller.PI.x, 0);
val(axis3.gear.spring.phi_rel, 0);
val(axis3.gear.spring.w_rel, 0);
val(axis3.motor.C.v, 0);
val(axis3.motor.La.i, 0);
val(axis4.controller.PI.x, 0);
val(axis4.motor.C.v, 0);
val(axis4.motor.La.i, 0);
val(axis5.controller.PI.x, 0);
val(axis5.motor.C.v, 0);
val(axis5.motor.La.i, 0);
val(axis6.controller.PI.x, 0);
val(axis6.motor.C.v, 0);
val(axis6.motor.La.i, 0);
val(mechanics.b2.body.w_a[1], 0);
val(mechanics.r1.phi, 0);
val(mechanics.r1.w, 0);
val(mechanics.r2.phi, 0);
val(mechanics.r3.phi, 0);
val(mechanics.r3.w, 0);
val(mechanics.r4.phi, 0);
val(mechanics.r4.w, 0);
val(mechanics.r5.phi, 0);
val(mechanics.r5.w, 0);
val(mechanics.r6.phi, 0);
val(mechanics.r6.w, 0);
// Result:
// true
// record SimulationResult
// resultFile = "Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.fullRobot_res.mat",
// simulationOptions = "startTime = 0.0, stopTime = 0.0, numberOfIntervals = 500, tolerance = 1e-06, method = 'dassl', fileNamePrefix = 'Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.fullRobot', options = '', outputFormat = 'mat', variableFilter = '.*', cflags = '', simflags = ''",
// messages = "LOG_SUCCESS | info | The initialization finished successfully without homotopy method.
// LOG_SUCCESS | info | The simulation finished successfully.
// "
// end SimulationResult;
// "[Modelica 3.1.0+maint.om/Mechanics/MultiBody/Parts.mo:948:5-949:59:writable] Warning: Parameter mechanics.load.r[3] has no value, and is fixed during initialization (fixed=true), using available start value (start=0.0) as default value.
// [Modelica 3.1.0+maint.om/Mechanics/MultiBody/Parts.mo:948:5-949:59:writable] Warning: Parameter mechanics.load.r[2] has no value, and is fixed during initialization (fixed=true), using available start value (start=0.0) as default value.
// [Modelica 3.1.0+maint.om/Mechanics/MultiBody/Parts.mo:948:5-949:59:writable] Warning: Parameter mechanics.load.r[1] has no value, and is fixed during initialization (fixed=true), using available start value (start=0.0) as default value.
// "
// 0.0
// 0.0
// 0.0
// 0.0
// 0.0
// -5.146936976669323
// 0.2741508617066707
// 0.0
// 94.404566703399
// -1.88809133406798
// -7.726060447507481
// 0.07367818054499482
// 0.0
// 183.9417386195635
// -3.678834772391271
// -1.200848786393524
// 30.0212196598381
// -0.6004243931967619
// -1.448558630786392
// 36.21396576965979
// -0.7242793153931959
// 0.0
// 0.0
// -0.0
// 0.0
// -1.047197551196598
// -0.0
// 0.349065850398866
// 1.570796326794897
// 0.0
// 0.0
// 0.0
// -1.919862177193763
// 0.0
// 0.0
// 0.0
// endResult