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what is the first part of the matrix? "Fill"

what is the first part of the matrix? "Fill"

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(lagrangian mechanics-Ordinary differantial equations)
lagrangian formulation of dynamics 
  • what is the first part of the matrix? "Fill"
X trajectory.m x RPmanipulator.m x RPmanipulator (q, u, ml, m2,I1,12,rl) LU.m X findswitch.m abc.m X trajectory2.m x + 1 function RHS = * creates the righthand side of the Lagrange dynamics converted to ordinary % differential equations Sthe main equation was given in the general form qdotdot, it was 2nd order, SWe need to define extra variables to get it down to Ind order: $ q= ql q2 qldot q2dot * RHS: right hand side qdot=RHS * RHS1=qldot * RHS2-q2dot * RHS3=qldotdot=from Lagrange equation * RHS4=q2dotdot=from Lagrange equation 2 3 4 7 8 10 11 12 - g=9.8; gravitational acc. 13 - RHS=[$FILL%; g (4) ; - (2*m2 *q (2) *q (3) *q(4) +g* (ml*rl+m2*q(2)) *cos (g (1)) -u (1) )/ (Il+12+ml*rl^2+m2*q(2) ^2); 14 15 16 - (-m2*g (2) *a(3) ^2+g*m2*sin (q (1))-u (2))/m2; 17 18 - end Current Fold
Transcribed Image Text:X trajectory.m x RPmanipulator.m x RPmanipulator (q, u, ml, m2,I1,12,rl) LU.m X findswitch.m abc.m X trajectory2.m x + 1 function RHS = * creates the righthand side of the Lagrange dynamics converted to ordinary % differential equations Sthe main equation was given in the general form qdotdot, it was 2nd order, SWe need to define extra variables to get it down to Ind order: $ q= ql q2 qldot q2dot * RHS: right hand side qdot=RHS * RHS1=qldot * RHS2-q2dot * RHS3=qldotdot=from Lagrange equation * RHS4=q2dotdot=from Lagrange equation 2 3 4 7 8 10 11 12 - g=9.8; gravitational acc. 13 - RHS=[$FILL%; g (4) ; - (2*m2 *q (2) *q (3) *q(4) +g* (ml*rl+m2*q(2)) *cos (g (1)) -u (1) )/ (Il+12+ml*rl^2+m2*q(2) ^2); 14 15 16 - (-m2*g (2) *a(3) ^2+g*m2*sin (q (1))-u (2))/m2; 17 18 - end Current Fold
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