(sum_theta1_data, sum_theta2_data, sum_theta3_data, sum_theta4_data,
sum_theta4_data) = [], [], [], [], []
(theta_data, thetad_data, dot_theta_data, ddot_theta_data, sum_theta_data,
dot_thetad_data) = [], [], [], [], [], []
sum_polar = []
circle_data = []
k11 = 10
k21 = 2000
# Non linear character Parametas
k1 = sl.non_linear_parameta(k11, k21)
k2 = sl.non_linear_parameta(k11, k21)
k3 = sl.non_linear_parameta(k11, k21)
k4 = sl.non_linear_parameta(k11, k21)
k = [k1, k2, k3, k4]
# K Errored
# +-5%誤差
k11_error = uniform(9.5, 10.5)
k21_error = uniform(1900, 2100)
k1_error = sl.non_linear_parameta(9.5, 2100)
k2_error = sl.non_linear_parameta(10.5, 1900)
k3_error = sl.non_linear_parameta(10, 2000)
k4_error = sl.non_linear_parameta(10, 2500)
dot_qd_data) = [], [], [], [], [], []
(theta1_data, theta2_data, theta3_data, theta4_data) = [], [], [], []
(thetad1_data, thetad2_data, thetad3_data, thetad4_data) = [], [], [], []
(dot_theta1_data, dot_theta2_data, dot_theta3_data,
dot_theta4_data) = [], [], [], []
(ddot_theta1_data, ddot_theta2_data, ddot_theta3_data,
ddot_theta4_data) = [], [], [], []
(sum_theta1_data, sum_theta2_data, sum_theta3_data,
sum_theta4_data) = [], [], [], []
(theta_data, thetad_data, dot_theta_data, ddot_theta_data, sum_theta_data,
dot_thetad_data) = [], [], [], [], [], []
# Non linear character Parametas
k1 = sl.non_linear_parameta(1.0, 1.0)
k2 = sl.non_linear_parameta(1.0, 1.0)
k3 = sl.non_linear_parameta(0.0, 0.0)
k4 = sl.non_linear_parameta(1.0, 1.0)
k = [k1, k2, k3, k4]
# Time Parametas
simulate_time = 5 # シミュレート時間
sampling_time = 0.001 # サンプリングタイム
# Deseired Position
xd = -0.14122975389
yd = 0.2817
Xd = [xd, yd]
x_data = []
Inertia = []
Inertia = sl.link_inertia(m, ll, Inertia)
# ロボット初期値
theta = [radians(0.0)]
thetad1 = radians(0.0)
dot_theta = [0.0]
ddot_theta = [0.0]
q = [radians(30.0)]
dot_q = [0]
ddot_q = [0]
k1 = 10
k2 = 2000
k11 = sl.non_linear_parameta(k1, k2)
k = [k11]
kp = 100
kv = 00
tauf = 0 # 外乱トルク
Gear_ratio = 100
thetad2 = Gear_ratio * thetad1
A = m[0] * pow(lg[0], 2) + Inertia[0]
# リスト作成
(q_data, dot_q_data, ddot_q_data) = [], [], []