x_data = []
xd_data = []
yd_data = []
y_data = []
c_data = []
sum_x = 0.0
sum_y = 0.0
sum_x_data = []
sum_y_data = []
lamx_data = []
lamy_data = []
time_log = []
ST = int(sl.simulation_time(simulate_time, sampling_time))
fl = open('3dof_simulation_link_data.csv', 'w')
fm = open('3dof_simulation_motor_data.csv', 'w')
fp = open('3dof_simulation_position_data.csv', 'w')
fc = open('Parameter_data.txt', 'w')
fc.write('[Parameters]\n')
fc.write(
'Xd = {}, Yd ={}\n'.format(Xd[0], Xd[1]) +
'k1 = [{},{}, {}, {}],'.format(k[0][0], k[1][0], k[2][0], k[3][0]) +
'k2 = [{}, {}, {}, {}]\n'.format(k[0][1], k[1][1], k[2][1], k[3][1]))
for i in range(len(gain)):
fc.write('Gain{} = [kp={}, kv={}, ki={}]\n'.format(
i, gain[i][0], gain[i][1], gain[i][2]))
qd1, qd2 = radians(30), radians(45) # 目標角度
dot_qd1, dot_qd2 = 0.0, 0.0
count_time = 10 # シミュレート時間
sampling_time = 0.0001 # サンプリングタイム
time_log = []
deg1 = []
deg2 = []
dot_deg1 = []
dot_deg2 = []
ddot_deg1 = []
ddot_deg2 = []
link2_log = []
ST = int(sl.simulation_time(count_time, sampling_time))
f = open('2dof_simulation.csv', 'w')
Parameters = [
'Time[s]', 'q1', 'q2', 'qd1', 'qd2', 'dot_q1', 'dot_q2', 'ddot_q1',
'ddot_q2'
]
f.write('Time[s], q1, q2, qd1, qd2, dot_q1, dot_q2, ddot_q1, ddot_q2\n')
row_data = []
for i in range(ST):
time = i * sampling_time
q1, q2, dot_q1, dot_q2 = sl.EulerMethod(q1, q2, dot_q1, dot_q2,
ddot_q1, ddot_q2,