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F78085427
MAIN_FILE.m
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Created
Sun, Aug 18, 08:25
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2 KB
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text/x-c
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Tue, Aug 20, 08:25 (2 d)
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blob
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19980774
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R4970 MSM
MAIN_FILE.m
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%
{
--------------------------------------------------------------------------
This
is
the
main
file
that
performs
the
simulation
.
The
simulation
consists
of
4
main
blocks
.
1
-
a
six
degrees
of
freedom
biomechanical
model
of
the
glenohumerla
joint
.
It
has
3
rotational
DOF
together
with
3
translational
DOF
.
The
six
main
muscles
spanning
the
joint
are
considered
.
Their
paths
are
influenced
by
both
the
rotation
and
the
tranlations
of
the
joint
.
The
contact
force
acting
due
to
the
contact
between
the
humeral
head
and
the
glenoid
fossa
is
defined
in
the
second
main
box
.
2
-
a
contact
model
for
the
articular
contact
between
the
humeral
head
and
the
glenoid
fossa
.
In
order
to
define
the
tranlations
,
the
contact
force
is
defined
using
a
simple
soft
articular
contact
.
The
output
of
this
block
(
function
)
is
a
function
of
generalized
coordinates
.
3
-
a
feedforward
controller
which
is
a
3
DOF
model
of
the
same
system
simulated
in
inverse
-
dynamics
simulation
.
4
-
a
feedback
controller
.
Given
that
the
feedforward
controller
cannot
steer
the
system
with
reasonably
large
stepsize
a
feedback
controller
is
considered
to
compenstae
for
the
numerical
errors
due
to
the
numerical
integration
of
the
system
equations
defined
in
1.
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
3
DOF
model
,
...
'
);
%
Construct
the
equations
of
motion
of
3
DOF
DYDATA
=
initialize_dynamic_data
();
%
Create
the
Kinematics
Data
IDDATA
=
inverse_dynamic_simulation_new1
(
DYDATA
);
disp
(
'
constructing
the
6
DOF
model
,
...
'
);
%
Construct
the
equations
of
motion
of
6
DOF
DYDATA
=
initialize_dynamic_data_6DOF
();
%
Initialize
the
elastic
contact
model
CMDATA
=
initilize_contact_model
();
%
Creat
the
State
Space
Equations
(
more
precisely
the
generalized
%
acceleration
)
of
the
6
DOF
model
state_space_generator_6DOF
(
DYDATA
);
%
Solve
the
Forward
Dynamic
Simulation
of
the
6
DOF
model
IDDATA
=
solve_forward_dynamic
(
IDDATA
,
DYDATA
,
CMDATA
);
%
Postprocess
the
results
and
illustrate
the
results
PPDATA
=
postprocessing_main
(
IDDATA
,
CMDATA
);
toc
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