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ballBalancingTable_DataFile.m
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ballBalancingTable_DataFile.m
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% Simscape(TM) Multibody(TM) version: 6.1
% This is a model data file derived from a Simscape Multibody Import XML file using the smimport function.
% The data in this file sets the block parameter values in an imported Simscape Multibody model.
% For more information on this file, see the smimport function help page in the Simscape Multibody documentation.
% You can modify numerical values, but avoid any other changes to this file.
% Do not add code to this file. Do not edit the physical units shown in comments.
%%%VariableName:smiData
%============= RigidTransform =============%
%Initialize the RigidTransform structure array by filling in null values.
smiData.RigidTransform(23).translation = [0.0 0.0 0.0];
smiData.RigidTransform(23).angle = 0.0;
smiData.RigidTransform(23).axis = [0.0 0.0 0.0];
smiData.RigidTransform(23).ID = '';
%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(1).translation = [-14.5 12.499999999999998 12.499999999999998]; % mm
smiData.RigidTransform(1).angle = 0; % rad
smiData.RigidTransform(1).axis = [0 0 0];
smiData.RigidTransform(1).ID = 'B[NEWSERVO_asm:40:-:NEWSERVO_asm:41]';
%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(2).translation = [-3.5528616495350103e-15 8.8817250072776262e-15 -1.9999999999999982]; % mm
smiData.RigidTransform(2).angle = 0; % rad
smiData.RigidTransform(2).axis = [0 0 0];
smiData.RigidTransform(2).ID = 'F[NEWSERVO_asm:40:-:NEWSERVO_asm:41]';
%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(3).translation = [4.5924254968025838e-16 67.5 0]; % mm
smiData.RigidTransform(3).angle = 0; % rad
smiData.RigidTransform(3).axis = [0 0 0];
smiData.RigidTransform(3).ID = 'B[40:-:41]';
%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(4).translation = [4.5924254968025838e-16 -7.5 0]; % mm
smiData.RigidTransform(4).angle = 0; % rad
smiData.RigidTransform(4).axis = [0 0 0];
smiData.RigidTransform(4).ID = 'F[40:-:41]';
%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(5).translation = [0 5 0]; % mm
smiData.RigidTransform(5).angle = 2.0943951023931953; % rad
smiData.RigidTransform(5).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(5).ID = 'B[40:-:55:40]';
%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(6).translation = [24.213619734488383 0 17.311130166402201]; % mm
smiData.RigidTransform(6).angle = 3.1415926535897931; % rad
smiData.RigidTransform(6).axis = [0 -0.70710678118654757 -0.70710678118654757];
smiData.RigidTransform(6).ID = 'F[40:-:55:40]';
%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(7).translation = [0 5 0]; % mm
smiData.RigidTransform(7).angle = 2.0943951023931953; % rad
smiData.RigidTransform(7).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(7).ID = 'B[40:-:95:40]';
%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(8).translation = [24.213619734488383 0 17.311130166402194]; % mm
smiData.RigidTransform(8).angle = 2.0943951023931953; % rad
smiData.RigidTransform(8).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(8).ID = 'F[40:-:95:40]';
%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(9).translation = [0 -2.5 60]; % mm
smiData.RigidTransform(9).angle = 0; % rad
smiData.RigidTransform(9).axis = [0 0 0];
smiData.RigidTransform(9).ID = 'B[41:-:105]';
%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(10).translation = [-4.2400180588764158e-12 -16.078260797820551 -6.0794928119500824e-12]; % mm
smiData.RigidTransform(10).angle = 0; % rad
smiData.RigidTransform(10).axis = [0 0 0];
smiData.RigidTransform(10).ID = 'F[41:-:105]';
%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(11).translation = [-60 -2.5 0]; % mm
smiData.RigidTransform(11).angle = 0; % rad
smiData.RigidTransform(11).axis = [0 0 0];
smiData.RigidTransform(11).ID = 'B[41:-:106]';
%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(12).translation = [6.693517268230309e-13 -16.078260791961746 -1.7061005386231898e-12]; % mm
smiData.RigidTransform(12).angle = 0; % rad
smiData.RigidTransform(12).axis = [0 0 0];
smiData.RigidTransform(12).ID = 'F[41:-:106]';
%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(13).translation = [0 5 60]; % mm
smiData.RigidTransform(13).angle = 0; % rad
smiData.RigidTransform(13).axis = [0 0 0];
smiData.RigidTransform(13).ID = 'B[:-:55]';
%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(14).translation = [-35.786380265511625 0 17.311130166402194]; % mm
smiData.RigidTransform(14).angle = 0; % rad
smiData.RigidTransform(14).axis = [0 0 0];
smiData.RigidTransform(14).ID = 'F[:-:55]';
%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(15).translation = [-60 5 0]; % mm
smiData.RigidTransform(15).angle = 0; % rad
smiData.RigidTransform(15).axis = [0 0 0];
smiData.RigidTransform(15).ID = 'B[:-:95]';
%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(16).translation = [-35.786380265511617 0 17.311130166402194]; % mm
smiData.RigidTransform(16).angle = 0; % rad
smiData.RigidTransform(16).axis = [0 0 0];
smiData.RigidTransform(16).ID = 'F[:-:95]';
%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(17).translation = [-21.330972741206757 2 2.9999999999999996]; % mm
smiData.RigidTransform(17).angle = 0; % rad
smiData.RigidTransform(17).axis = [0 0 0];
smiData.RigidTransform(17).ID = 'B[55:41:-:105]';
%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(18).translation = [2.482682393001312e-10 -69.078260797385894 -1.1450851170047294e-09]; % mm
smiData.RigidTransform(18).angle = 0; % rad
smiData.RigidTransform(18).axis = [0 0 0];
smiData.RigidTransform(18).ID = 'F[55:41:-:105]';
%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(19).translation = [-21.330972741206757 2 2.9999999999999996]; % mm
smiData.RigidTransform(19).angle = 0; % rad
smiData.RigidTransform(19).axis = [0 0 0];
smiData.RigidTransform(19).ID = 'B[95:41:-:106]';
%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(20).translation = [-2.561338686285497e-08 -69.078260675587131 2.9688922986714772e-09]; % mm
smiData.RigidTransform(20).angle = 0; % rad
smiData.RigidTransform(20).axis = [0 0 0];
smiData.RigidTransform(20).ID = 'F[95:41:-:106]';
%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(21).translation = [0 0 0]; % mm
smiData.RigidTransform(21).angle = 0; % rad
smiData.RigidTransform(21).axis = [0 0 0];
smiData.RigidTransform(21).ID = 'RootGround[40]';
%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(22).translation = [0 0 0]; % mm
smiData.RigidTransform(22).angle = 0; % rad
smiData.RigidTransform(22).axis = [0 0 0];
smiData.RigidTransform(22).ID = 'AssemblyGround[55:40]';
%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(23).translation = [0 0 0]; % mm
smiData.RigidTransform(23).angle = 0; % rad
smiData.RigidTransform(23).axis = [0 0 0];
smiData.RigidTransform(23).ID = 'AssemblyGround[95:40]';
%============= Solid =============%
%Center of Mass (CoM) %Moments of Inertia (MoI) %Product of Inertia (PoI)
%Initialize the Solid structure array by filling in null values.
smiData.Solid(5).mass = 0.0;
smiData.Solid(5).CoM = [0.0 0.0 0.0];
smiData.Solid(5).MoI = [0.0 0.0 0.0];
smiData.Solid(5).PoI = [0.0 0.0 0.0];
smiData.Solid(5).color = [0.0 0.0 0.0];
smiData.Solid(5).opacity = 0.0;
smiData.Solid(5).ID = '';
%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(1).mass = 216090852.75187171; % kg
smiData.Solid(1).CoM = [-1.356743991954495 4.8657075801022742 1.4011697502767391]; % mm
smiData.Solid(1).MoI = [707011484094.46521 1371950552532.4421 706085380175.68738]; % kg*mm^2
smiData.Solid(1).PoI = [-7361079735.6655416 -410825845.03533411 6985390528.4345312]; % kg*mm^2
smiData.Solid(1).color = [0.5 0.5 0.5];
smiData.Solid(1).opacity = 1;
smiData.Solid(1).ID = 'BASEPLATE_prt';
%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(2).mass = 201046180.07352406; % kg
smiData.Solid(2).CoM = [-0.02266099041452297 2.4718726158179019 0.022660218873087688]; % mm
smiData.Solid(2).MoI = [667417006174.55383 1333927383939.2241 667416992466.80164]; % kg*mm^2
smiData.Solid(2).PoI = [16352049.940530721 0 -16350770.97419312]; % kg*mm^2
smiData.Solid(2).color = [0.5 0.5 0.5];
smiData.Solid(2).opacity = 1;
smiData.Solid(2).ID = 'BALLSURFACE_prt';
%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(3).mass = 28225.53192833189; % kg
smiData.Solid(3).CoM = [-0.051646453121706584 12.500004142311386 0.048083346143782291]; % mm
smiData.Solid(3).MoI = [2948381.8557741474 6250690.0397921326 6232804.1344517032]; % kg*mm^2
smiData.Solid(3).PoI = [0 19609.388774372659 0]; % kg*mm^2
smiData.Solid(3).color = [0.5 0.5 0.5];
smiData.Solid(3).opacity = 1;
smiData.Solid(3).ID = 'SERVOMOTOR_prt';
%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(4).mass = 486.1035889162855; % kg
smiData.Solid(4).CoM = [-7.1205185053538145 0.081966377237375099 2.7549598564162641]; % mm
smiData.Solid(4).MoI = [2372.1360574586547 34235.865683644428 33889.221857670302]; % kg*mm^2
smiData.Solid(4).PoI = [-9.7618129130080291 890.79047485556657 566.20570106497746]; % kg*mm^2
smiData.Solid(4).color = [0.5 0.5 0.5];
smiData.Solid(4).opacity = 1;
smiData.Solid(4).ID = 'SERVOARM_prt';
%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(5).mass = 206.26607661263844; % kg
smiData.Solid(5).CoM = [0 -42.508670014898051 0]; % mm
smiData.Solid(5).MoI = [106401.00515171491 346.3676211162674 106401.0082659008]; % kg*mm^2
smiData.Solid(5).PoI = [0 0 0]; % kg*mm^2
smiData.Solid(5).color = [0.5 0.5 0.5];
smiData.Solid(5).opacity = 1;
smiData.Solid(5).ID = 'SQUARECONNECTINGROD_prt';
%============= Joint =============%
%X Revolute Primitive (Rx) %Y Revolute Primitive (Ry) %Z Revolute Primitive (Rz)
%X Prismatic Primitive (Px) %Y Prismatic Primitive (Py) %Z Prismatic Primitive (Pz) %Spherical Primitive (S)
%Constant Velocity Primitive (CV) %Lead Screw Primitive (LS)
%Position Target (Pos)
%Initialize the RectangularJoint structure array by filling in null values.
smiData.RectangularJoint(2).Px.Pos = 0.0;
smiData.RectangularJoint(2).Py.Pos = 0.0;
smiData.RectangularJoint(2).ID = '';
smiData.RectangularJoint(1).Px.Pos = 0; % m
smiData.RectangularJoint(1).Py.Pos = 0; % m
smiData.RectangularJoint(1).ID = '[40:-:55:40]';
smiData.RectangularJoint(2).Px.Pos = 0; % m
smiData.RectangularJoint(2).Py.Pos = 0; % m
smiData.RectangularJoint(2).ID = '[40:-:95:40]';
%Initialize the RevoluteJoint structure array by filling in null values.
smiData.RevoluteJoint(2).Rz.Pos = 0.0;
smiData.RevoluteJoint(2).ID = '';
smiData.RevoluteJoint(1).Rz.Pos = -0.00095424082356771562; % deg
smiData.RevoluteJoint(1).ID = '[55:40:-:55:41]';
smiData.RevoluteJoint(2).Rz.Pos = -0.00095455222063720068; % deg
smiData.RevoluteJoint(2).ID = '[95:40:-:95:41]';
%Initialize the SphericalJoint structure array by filling in null values.
smiData.SphericalJoint(7).S.Pos.Angle = 0.0;
smiData.SphericalJoint(7).S.Pos.Axis = [0.0 0.0 0.0];
smiData.SphericalJoint(7).ID = '';
smiData.SphericalJoint(1).S.Pos.Angle = 0; % deg
smiData.SphericalJoint(1).S.Pos.Axis = [0 0 0];
smiData.SphericalJoint(1).ID = '[40:-:41]';
smiData.SphericalJoint(2).S.Pos.Angle = 27.876964817487483; % deg
smiData.SphericalJoint(2).S.Pos.Axis = [-0.0034755061450895508 0.99997111886843648 0.0067588672159416829];
smiData.SphericalJoint(2).ID = '[41:-:105]';
smiData.SphericalJoint(3).S.Pos.Angle = 5.7135705519777646; % deg
smiData.SphericalJoint(3).S.Pos.Axis = [-0.035286069988594904 0.9993251522787101 -0.010204571911298607];
smiData.SphericalJoint(3).ID = '[41:-:106]';
%This joint has been chosen as a cut joint. Simscape Multibody treats cut joints as algebraic constraints to solve closed kinematic loops. The imported model does not use the state target data for this joint.
smiData.SphericalJoint(4).S.Pos.Angle = 90; % deg
smiData.SphericalJoint(4).S.Pos.Axis = [-0 1 -0];
smiData.SphericalJoint(4).ID = '[:-:55]';
%This joint has been chosen as a cut joint. Simscape Multibody treats cut joints as algebraic constraints to solve closed kinematic loops. The imported model does not use the state target data for this joint.
smiData.SphericalJoint(5).S.Pos.Angle = 0; % deg
smiData.SphericalJoint(5).S.Pos.Axis = [0 0 0];
smiData.SphericalJoint(5).ID = '[:-:95]';
%This joint has been chosen as a cut joint. Simscape Multibody treats cut joints as algebraic constraints to solve closed kinematic loops. The imported model does not use the state target data for this joint.
smiData.SphericalJoint(6).S.Pos.Angle = 62.124128756582373; % deg
smiData.SphericalJoint(6).S.Pos.Axis = [-0.0033701859121929799 -0.99999371842060369 0.0010977095478062724];
smiData.SphericalJoint(6).ID = '[55:41:-:105]';
%This joint has been chosen as a cut joint. Simscape Multibody treats cut joints as algebraic constraints to solve closed kinematic loops. The imported model does not use the state target data for this joint.
smiData.SphericalJoint(7).S.Pos.Angle = 5.7135608908440867; % deg
smiData.SphericalJoint(7).S.Pos.Axis = [-0.035294454035710694 0.99932654668043341 -0.010037659791041702];
smiData.SphericalJoint(7).ID = '[95:41:-:106]';