Simulink running 3R robot arm

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Young Lee
Young Lee 2020-6-14
Q1
Hi, I am working on one of the robotic arm simulation, basic 3 link RRR
so I tried to follow as much as possible with twoDOFLAgran.mdl which is working perfectly and ideally( unable to attach file // missing the Vr sink to show animated motion)
and I want to run just as smooth on DOF3_3R.mdl file as the other one.
Could you take a look at this? visual simulation is important , but getting it to run is more important at this stage...
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Q2 I have some long equations as such
C1 =
- l1*lc3*m3*q2d^2*sin(q2 + q3) - l1*lc3*m3*q3d^2*sin(q2 + q3) - l1*l2*m3*q2d^2*sin(q2) - l1*lc2*m2*q2d^2*sin(q2) - l2*lc3*m3*q3d^2*sin(q3) - 2*l1*lc3*m3*q1d*q2d*sin(q2 + q3) - 2*l1*lc3*m3*q1d*q3d*sin(q2 + q3) - 2*l1*lc3*m3*q2d*q3d*sin(q2 + q3) - 2*l1*l2*m3*q1d*q2d*sin(q2) - 2*l1*lc2*m2*q1d*q2d*sin(q2) - 2*l2*lc3*m3*q1d*q3d*sin(q3) - 2*l2*lc3*m3*q2d*q3d*sin(q3)
C2 =
l1*lc3*m3*q1d^2*sin(q2 + q3) + l1*l2*m3*q1d^2*sin(q2) + l1*lc2*m2*q1d^2*sin(q2) - l2*lc3*m3*q3d^2*sin(q3) - 2*l2*lc3*m3*q1d*q3d*sin(q3) - 2*l2*lc3*m3*q2d*q3d*sin(q3)
l1*lc3*m3*q1d^2*sin(q2 + q3) + l2*lc3*m3*q1d^2*sin(q3) + l2*lc3*m3*q2d^2*sin(q3) + 2*l2*lc3*m3*q1d*q2d*sin(q3)
C3 =
l1*lc3*m3*q1d^2*sin(q2 + q3) + l2*lc3*m3*q1d^2*sin(q3) + l2*lc3*m3*q2d^2*sin(q3) + 2*l2*lc3*m3*q1d*q2d*sin(q3)
Is it possible to factor them into matrix from by collecting factors such as-- x1d , x2d , x3d --
such that C = [ a11 , a12 , a13 ; a21,a22,a23 ; a31,a32,a33] * [x1d ; x2d ; x3d]

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