Recursive Dynamics Simulator (ReDySim)
Based on the recursive algorithms presented in Chaps. 6 and 7, a Recursive Dynamics Simulator (ReDySim) is developed in MatLab (2009) platform for analyses of fixed- and floating-base tree-type, and closed-loop systems. Its usage is shown in this chapter.
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Recursive Dynamics Simulator (ReDySim)
Based on the recursive algorithms presented in Chaps. 6 and 7, a Recursive Dynamics Simulator (ReDySim) is developed in MatLab (2009) platform for analyses of fixed- and floating-base tree-type, and closed-loop systems. Its usage is shown in this chapter.
10.1 How to Use ReDySim? The ReDySim can be downloaded using the link provided on the webpage http:// www.redysim.co.nr/book.html. The downloaded folder needs to be extracted before actually start working using ReDySim. The folder has directory tree as shown in Fig. 10.1. The Dynamics of Tree-type Robotic Systems forms the root directory whose immediate folders are Help and Recursive Dynamic Simulator (ReDySim). The Help folder contains Instruction Manual and definition of the DenavitHartenberg (DH) Parameters, whereas Recursive Dynamic Simulator (ReDySim) contains the program modules. The user is required to have MATLAB 2009 or any higher version before start using ReDySim. Note that the folder Recursive Dynamic Simulator (ReDySim) has two program modules, namely, Fixed-base Systems and Floating-base systems. The folder Fixedbase systems has further two modules Closed-loop Systems and Tree-type Systems. The modules Closed-loop Systems, Tree-type Systems and Floating-base Systems have directories named Forward Dynamics and Inverse Dynamics, which contain several MATLAB functions and protected files (pcodes), and folders containing files to be inputted for the problems solved in this book. Use of the three modules in ReDySim is illustrated in the following sections.
S.V. Shah et al., Dynamics of Tree-Type Robotic Systems, Intelligent Systems, Control and Automation: Science and Engineering 62, DOI 10.1007/978-94-007-5006-7 10, © Springer ScienceCBusiness Media Dordrecht 2013
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10 Recursive Dynamics Simulator (ReDySim)
Fig. 10.1 Directory tree
10.2 Fixed-Base Systems Analysis of fixed-base systems involves either inverse or forward dynamics. The program module for the fixed-based system is generic and can solve any arbitrary tree-type and closed-loop systems. The user inputs for both the inverse and forward dynamics are discussed in the following subsections.
10.2.1 Inverse Dynamics Inverse dynamics attempts to find the joint torques and forces for a given set of joint motions to the system under study. In order to perform inverse dynamics, the following input parameters are required: Model Parameters 1. 2. 3. 4. 5. 6. 7. 8.
Type of system (type), i.e., open-loop or closed-loop. Degree-of-freedom of the system. Number of modules (s). Vector containing number of links in each module (ns). Vector containing number of joint variables associated with each joint (nj ). Parent of each link (ˇ). Constant Denavit-Hartenberg (DH) parameters for revolute joints (a, ˛ and b). Vector dk measured from origin Ok to the Center-of-Mass (COM) Ck of the kth link. 9. Mass of each link (mk ). 10. Inertia tensor of each link about COM and represented in body-fixed frame .ICk /. 11. Vector of gravitational acceleration (g) in the in
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