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msm/ShoulderModel_3DOF/MAIN_FILE.m
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MAIN_FILE.m
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%{
--------------------------------------------------------------------------
This is the main file that performs the simulation. It's a three degrees of
freedom model of the glenohumeral joint derived by the 6 muscles spanning
the joint. The simulation has two main different parts described briefly
below.
1- inverse dynamic model that given the predefined joint motions defines
the muscle forces. It in itself consists of different parts including the
wrapping algorithm and muscle force estimation due to the overactuation of
the system.
2- forward dynamic model that build on the muscle forces defined by the
inverse dynamic (part 1) solve the differential equations of motion in
time.
1) IDDATA : inverse dynamic data + the results for the motion integrated in
the forward dynamic part
2) DYDATA : parameters of the systems
3) EFDATA : generalized forces and reaction forces resulted from the
inverse dynamic simulation
4) FDDATA : nothing yet here !
created by: ehsan.sarshari@epfl.ch
--------------------------------------------------------------------------
%}
tic
% Clean Workspace
clc; clear all; close all;
% Grant access to the directory
CurrentPath = pwd;
addpath([CurrentPath]); %,'/','ThreeBarModel'
disp('constructing the model, be patient please!');
% Construct the equations of motion
DYDATA = initialize_dynamic_data();
% Create the Kinematics Data
IDDATA = inverse_dynamic_simulation_new1(DYDATA);
% Creat the State Space Equations (more precisely the generalized acceleration)
state_space_generator(DYDATA)
% Solve the Forward Dynamic Simulation
IDDATA = solve_forward_dynamic(IDDATA, DYDATA);
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