k11=28.21;
k21=-4.23;
k12=-18.133;
k22=2.59;
k13=20.815;
k23=-2.97;
%some variables were left undefined
R21 = randn()
R32 = randn()
O1O2 = randn(1,3)
O2O3 = randn(1,3)
%end of undefined variables
t = 0:.1:3;
num_t = length(t);
for i=1:num_t
tdot1=k11+2*k21*t(i);
tdot2=k12+2*k22*t(i);
tdot3=k13+2*k23*t(i);
w1=[0;0;tdot1*2*pi/360];
w2=R21*w1+[0;0;tdot2*2*pi/360];
w3=R32*w2+[0;0;tdot3*2*pi/360];
uW1(i)=w1(3,1);
uW2(i)=w2(3,1);
uW3(i)=w3(3,1);
v2=R21*cross(w1,O1O2);
v3=R32*(v2+cross(w2,O2O3));
uV2(i)=norm(v2);
uV3(i)=norm(v3);
end
hold on
figure(1)
plot(t,uW1,'-*')
xlabel('time[s]');
ylabel('w1[rad/s]');
figure(2)
plot(t,uW2,'-*')
xlabel('time[s]');
ylabel('w2[rad/s]');
figure(3)
plot(t,uW3,'-*')
xlabel('time[s]');
ylabel('w3[rad/s]');
figure(4)
plot(t,uV2,'-.')
xlabel('time[s]');
ylabel('v2[m/s]');
figure(5)
plot(t,uV3,'-.')
xlabel('time[s]');
ylabel('v3[m/s]');
