ArmModel
Subsections
ArmModel
- mintheta1 :
- Baseline parameter for theta1.
- mintheta2 :
- Baseline parameter for theta2.
- minU1 :
- Baseline parameter for U1.
- minU2 :
- Baseline parameter for U2.
- model_DT :
- The time-step of simulation.
- Xo :
- The X coordinate of origin.
- Yo :
- The Y coordinate of origin.
- m1 :
- The mass of 1st link.
- m2 :
- The mass of second link.
- lc1 :
- The distance of central point of link 1.
- lc2 :
- The distance of central point of link 2.
- l1 :
- Length of first link.
- l2 :
- Length of second link.
- I1 :
- The moment of inertia of link1.
- I2 :
- The moment of inertia of link2.
- MFACT :
- The factor by which the external noise will be proportional to the input magnitude.
- PERT_TIME :
- The time at which the perturbation will start.
- DURATION :
- The duration of perturbation.
- inputFileNr :
- The file-number for input of Xdest, Ydest, Theta1, Theta2 (file-name is 'T(x).mat', where (x) is this number.
- t1 :
- Angle theta 1.
- t2 :
- Angle theta 2.
- w1 :
- Angular velocity 1 (updated every time step).
- w2 :
- Angular velocity 2 (updated every time step).
- u1 :
- Torque 1 (updated every time step).
- u2 :
- Torque 2 (updated every time step).
- nIncoming :
- Number of inputs
- nOutputChannels :
- Number of output channels
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