clc close all clear all %Simulation of a single link pendulum %<<onelink.png>> %DH for link 1 except qi parms.a1 = 1; parms.alpha1 = 0; parms.d1=0; %mass, inertia and gravity. parms.m1 = 1; parms.I1 = 0.5; parms.g = 10; %stuff for animation parms.time_delay = 0.1; %delay between frames, will need some fine tuning for different computers parms.framespersec = 30; %step size for integration. Accuracy increases as h decreases h = 0.001; %set the time t0 = 0; %start time tN = 2; %end time N = (tN-t0)/h; t = linspace(t0,tN,N); %initial conditions theta1 = 0; %initial position theta1dot = 0;%final position x0=[theta1 theta1dot]'; %integrate equations of motion x = ode4('onelink_rhs',t,x0,parms); %do some plots figure(1) plot(t,x(:,1),'b'); xlabel('time'); ylabel('position'); figure(2) plot(t,x(:,2),'r'); xlabel('time'); ylabel('velocity'); figure(3) %animation onelink_animation(t,x(:,1),parms);
