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The main purpose of this page is to describe the working principle behind the simulation runner. This entry point enables the execution of arbitrary motion profiles on all actuators and measures the behavior of the quadrupole. This functionality is crucial for understanding the couplings that affect the entire system. For instance, a vertical displacement of all three actuators results in a parasitic lateral shift that needs further adjustment. Once the kinematic behavior is well-understood, this script can be used to evaluate inverse kinematics functions and measure the error between the actual and desired positions and orientations of the quadrupole.

Location

The models are located in project_root/Simulation scripts

  • Sim_runner_full.m: Runs the 5dof model
  • Sim_runner_3dof.m: Runs the 3dof model

Code

Parameters and array initialization

Initialization 
%% Get the full path of the current script
scriptFullPath = mfilename('fullpath'); % Get the full path of the current script
[scriptFolder, ~, ~] = fileparts(scriptFullPath); % Extract the folder containing the script

% Define the relative path to the SCU model file
relativePath = '../Models/SCU_FULL.slx'; % Relative path to the SCU model
fullPath = fullfile(scriptFolder, relativePath); % Construct the full path to the SCU model

%% Configure and generate signals
close all;
simulation_time = 10; % Simulation time in seconds
n_pts = 1000; % Number of points
time = linspace(0, simulation_time, n_pts); % Time vector
positions = zeros([n_pts, 6]); % Initialize positions matrix

% Define initial positions
initial_position = 0;
positions(:, 1:5) = initial_position;

% Create position arrays for each actuator
A1_position = [time' positions(:, 1)];
A2_position = [time' positions(:, 2)];
A3_position = [time' positions(:, 3)];
A4_position = [time' positions(:, 4)];
A5_position = [time' positions(:, 5)];

% Initial states of each actuator
A1_initial_state = A1_position(1, 2);
A2_initial_state = A2_position(1, 2);
A3_initial_state = A3_position(1, 2);
A4_initial_state = A4_position(1, 2);
A5_initial_state = A5_position(1, 2);

The user can change simulation_time and n_pts. The rest of the scripts initialize the arrays required by the model to execute the simulations. All the values are initialized to 0

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