Đang chuẩn bị liên kết để tải về tài liệu:
Robot Manipulator Control Theory and Practice - Frank L.Lewis Part 16

Không đóng trình duyệt đến khi xuất hiện nút TẢI XUỐNG Tải xuống

Tham khảo tài liệu 'robot manipulator control theory and practice - frank l.lewis part 16', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 593 WRITEC DIGITAL CONTROLLER c OR FILTER F DEF N READ A ANS IF ANS.EQ. F .OR. ANS.EQ. f ANS F IFCANS.EQ. C .OR. ANS.EQ. c ANS C WRITE CONTIN. INPUT SUBROUTINE REQUIRED DEF N READ A ANSC IF ANSC.EQ. Y .OR. ANSC.EQ. y ANSC Y 30 WRITE HOW MANY STATES TO BE PLOTTED READ MX IF MX.EQ.O GO TO 37 DO 35 1 1 MX 35 IX I I WRITE WHICH ONES DEF IN ORDER READ IX I 1 1 MX 37 WRITE PLOT HOW MANY OUTPUTS READ MZ IF MZ.EQ.O GO TO 50 DO 36 1 1 MZ 36 IZ I I WRITE WHICH ONES DEF IN ORDER READ IZ I 1 1 MZ c 50 WRITEC RUN TIME READ TR WRITE PRINTING TIME INTERVAL ON SCREEN READ TPR IF ANS EQ. F .OR. ANS.EQ. C THEN WRITE SAMPLE PERIOD READ TD END IF WRITEC PLOTTING TIME INTERVAL READ TPL IFCANS.NE. F .AND. ANS.NE. C TD TPL WRITEC RUNGE-KUTTA INTEGRATION PERIOD READ TS NPR NINT TRZTPR NPL NINT TPRZTD NT NINTCTD TPL NTD NINT TPLZTS c TIME 0. IT 0 IP 0 IK O DO 60 1 1 NX 60 X I SX I Y 0 0 TIME DO 70 1 1 MX 70 Y O I X IX I IF MZ.GT.O THEN IFCANS.EQ. C CALL DIG IK TD X IFCANSC.EQ. Y CALL SYSINP IT X TIME CALL FCTIME X XP Copyright 2004 by Marcel Dekker Inc. 594 Software for Controller Simulation IF ANS.EQ. F CALL DIG IK TD X DO 75 1 1 MZ 75 Y D MX I Z IZ I END IF c DO 110 1 1 NPR DO 90 J 1 NPL IF ANS.EQ. C CALL DIG IK TD X DO 100 K 1 NT DO 85 KID 1 NTD IF IT. EQ. 0 THEN WRITE WRITE 80 IX IND IND 1 MX 80 F0RMAT 35X STATES TIME 10 112 WRITE 1K1PE12.3 Y 0 IND IND 0 MX MZ END IF IF ANSC.EQ. Y CALL SYSINP IT X TIME CALL RUNKUT TIME TS X NX IT IT 1 85 TIME FLOAT IT TS IP IP 1 Y IP 0 TIME DO 101 Ir 1 MX 101 Y IP L X IX D IF MZ.LE.O GO TO 100 DO 105 L 1 MZ 105 Y IP MX L Z IZ L 100 CONTINUE IK IK 1 IF ANS.EQ. F CALL DIG IK TD X 90 CONTINUE WRITE 1K1PE12.3 Y IP L L O.MX MZ 110 CONTINUE c 120 WRITE 130 130 F0RMAT 2X ENTER 0 TO FILE ANSWERS 8X 1 TO QUIT St 8X 2 TO RESTART 8X 3 TO PICK NEW STATES k 8X 4 TO CHANGE TIME SCALE READ I GO TO 150 10 30 50 1 c WRITE OUTPUT FILE NAME READ A FILNAM OPEN 20 FILE FILNAM REWIND 20 WRITE 20 MX MZ WRITE 20 IP 1 DO 140 J l.MX MZ DO 140 1 O IP 140 WRITE 20 8 1PE14.6 Y I J