lego_rip_simulation_cad
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lego_rip_simulation_cad [2017/02/27 10:26] – joaomatos | lego_rip_simulation_cad [2017/02/27 11:41] (current) – joaomatos | ||
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- | ==== How to export your SolidWorks model into Simulink | + | ===== Step by Step instructions ===== |
- | Follow this simple tutorial to learn how to export your Lego assemblies using SolidWorks to Simulink. Simulink is a powerfull tool to develop and test your controller before you go to the actual project and start coding. | + | You can get all the necessary .STL parts to build the RIP project on this file bellow. If you want the assembly already done, you can find inside the folder "only sensors building" |
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- | ==== How to export a SolidWorks Lego assembly into Simulink ==== | + | |
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- | You can get all the necessary .STL parts to build the RIP project on this file bellow. If you want the assembly already done, you can find inside the folder "only sensors building" | + | |
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**Under Actuation** ,you can enable/ | **Under Actuation** ,you can enable/ | ||
Under Sensing , is where you can enable the option to get the “real time” data from this joint . For our controlled version , we will enable position and velocity data. | Under Sensing , is where you can enable the option to get the “real time” data from this joint . For our controlled version , we will enable position and velocity data. | ||
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+ | **To get data from the sensing** , connect a simulink " | ||
With this briefly explanation you should be able to wire some blocks and make your control scheme and see if it works. I will provide my block diagram with the controller using PD provided by the LQR calculation. There is a lot of ways to construct your block diagram , use your creativity! | With this briefly explanation you should be able to wire some blocks and make your control scheme and see if it works. I will provide my block diagram with the controller using PD provided by the LQR calculation. There is a lot of ways to construct your block diagram , use your creativity! | ||
lego_rip_simulation_cad.1488219963.txt.gz · Last modified: 2017/02/27 10:26 by joaomatos