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The code is very similar to Simulation runner where the only difference is the absence of the inverse kinematics calculations. The A1_position..A5_position are computed directly and then fed to the simulation

Motion Examples

Only A1

By only moving A1 we are mostly controlling the pitch of the strongback. The drawback is that we have a parasitic motion on Y. This is why we need the inverse kinematics in place to keep all the degree of freedom in the cartesian space as close as possible to the target configuration

Circle

Combined motions can be executed. In this case, I'm simulating a rotary motion in the joint space.

% generate a circular trajectory
R = 2;
time_norm = time / time(end);
theta = time_norm * 4*pi;
x = R*cos(theta);
y = R*sin(theta);
% Generate trajectory
A1 = A1_start + time / time(end) * (A1_end - A1_start);
A2 = A2_start + time / time(end) * (A2_end - A2_start);
A3 = A3_start + time / time(end) * (A3_end - A3_start);
A4 = A4_start + time / time(end) * (A4_end - A4_start);
A5 = A5_start + time / time(end) * (A5_end - A5_start);

% Create position arrays for each actuator
A1_position = [time' A1'];
A2_position = [time' y'];
A3_position = [time' y'];
A4_position = [time' A4'];
A5_position = [time' x'];

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