Lab7 Grudziński Krawiec

Michał Grudziński grupa 24

Marcin Krawiec

Wykresy prędkości z wyłączonym modułem precyzyjnym
Wykresy prędkości z włączonym modułem precyzyjnym
Określenie maksymalnej odległości od zadanego toru ruchu dla wyłączonego trybu precyzyjnego:

M=[372.48 -37.9 126.81

372.48 -37.9 126.81

371.72 -39.84 129.31

368.76 -47.43 139.08

365.78 -55.07 148.92

361.92 -64.93 161.62

359.07 -72.24 171.04

356.33 -79.24 180.05

352.73 -88.47 191.93

349.62 -96.42 202.17

347.02 -103.1 210.77

344.16 -110.42 220.19

341.18 -118.05 230.03

338.57 -124.73 238.63

335.71 -132.05 248.05

332.98 -139.05 257.06

330.37 -145.73 265.67

328.38 -150.82 272.22

324.53 -160.68 284.92

321.67 -167.99 294.34

319.06 -174.67 302.94

315.21 -184.54 315.64

312.48 -191.53 324.66

310.61 -196.31 330.8

307.76 -203.62 340.22

304.15 -212.85 352.1

299.56 -224.62 367.26

297.19 -230.66 375.04

293.22 -240.84 388.15

290.86 -246.88 395.94

287.13 -256.43 408.23

283.53 -265.65 420.11

280.3 -273.92 430.76

277.07 -282.2 441.41

274.08 -289.83 451.24

270.48 -299.05 463.12

267.87 -305.73 471.72

265.63 -311.46 479.09

261.91 -321 491.38

260.51 -324.58 495.99

260.81 -323.8 494.99

264.11 -315.37 484.13

266.72 -308.69 475.53

269.57 -301.37 466.11

273.05 -292.47 454.64

275.16 -287.06 447.67

277.65 -280.7 439.48

280.01 -274.65 431.69

283.98 -264.47 418.59

286.84 -257.16 409.16

289.45 -250.48 400.56

292.93 -241.57 389.09

296.16 -233.3 378.44

298.65 -226.94 370.25

301.25 -220.26 361.64

303.99 -213.26 352.63

306.97 -205.63 342.8

310.95 -195.45 329.69

314.67 -185.9 317.4

317.41 -178.9 308.39

320.88 -170 296.92

323.74 -162.68 287.5

328.09 -151.55 273.16

331.07 -143.91 263.33

334.3 -135.64 252.68

337.41 -127.69 242.44

340.27 -120.37 233.01

344.37 -109.87 219.5

346.85 -103.51 211.3

350.58 -93.97 199.01

353.56 -86.33 189.18

355.92 -80.29 181.4

358.16 -74.56 174.02

361.02 -67.25 164.6

364 -59.61 154.77

366.61 -52.93 146.17

369.22 -46.25 137.57

371.99 -39.15 128.42

372.48 -37.9 126.81

372.3 -38.36 127.41

369.88 -44.57 135.4

367.14 -51.57 144.41

363.66 -60.47 155.88

360.68 -68.11 165.71

356.71 -78.29 178.82

353.85 -85.6 188.24

350.37 -94.51 199.71

348.51 -99.28 205.86

345.15 -107.87 216.92

342.67 -114.23 225.11

339.19 -123.14 236.58

336.21 -130.78 246.41

332.85 -139.36 257.47

329.99 -146.68 266.9

327.01 -154.32 276.73

323.91 -162.27 286.97

320.93 -169.9 296.8

317.7 -178.17 307.45

314.09 -187.4 319.33

312.1 -192.49 325.89

308.25 -202.35 338.58

304.9 -210.94 349.65

302.79 -216.35 356.61

298.44 -227.48 370.95

294.71 -237.02 383.24

292.6 -242.43 390.2

289.24 -251.02 401.26

285.76 -259.93 412.73

282.28 -268.83 424.2

278.18 -279.33 437.72

275.2 -286.97 447.55

272.97 -292.69 454.92

269.98 -300.33 464.76

266.88 -308.28 475

263.4 -317.19 486.47

260.91 -323.55 494.67

260.51 -324.58 495.99

261.99 -320.78 491.09

265.22 -312.51 480.44

267.96 -305.51 471.43

271.81 -295.65 458.73

275.41 -286.42 446.85

278.39 -278.79 437.02

282.62 -267.97 423.09

284.73 -262.57 416.13

287.71 -254.93 406.3

290.69 -247.3 396.47

292.93 -241.57 389.09

295.41 -235.21 380.9

298.15 -228.21 371.89

302 -218.35 359.19

305.35 -209.76 348.13

308.09 -202.76 339.11

310.95 -195.45 329.69

314.67 -185.9 317.4

318.28 -176.68 305.52

321.01 -169.68 296.51

324.11 -161.73 286.27

327.1 -154.09 276.44

329.58 -147.73 268.24

332.44 -140.41 258.82

335.3 -133.1 249.4

337.53 -127.37 242.03

339.52 -122.28 235.47

342.13 -115.6 226.87

344.86 -108.6 217.86

348.09 -100.33 207.21

352.07 -90.15 194.1

354.8 -83.15 185.09

358.16 -74.56 174.02

361.39 -66.29 163.37

364.25 -58.98 153.95

367.73 -50.07 142.48

370.58 -42.75 133.06

372.48 -37.9 126.81

371.93 -39.31 128.63

369.5 -45.52 136.63

366.65 -52.84 146.05

363.29 -61.43 157.11

359.56 -70.97 169.4

356.33 -79.24 180.05

353.1 -87.51 190.7

349.25 -97.37 203.4

347.14 -102.78 210.36

344.03 -110.74 220.6

340.31 -120.28 232.89

337.33 -127.91 242.73

334.84 -134.27 250.92

332.23 -140.96 259.52

329 -149.23 270.17

325.89 -157.18 280.41

322.79 -165.13 290.66

320.06 -172.13 299.67

317.32 -179.13 308.68

314.59 -186.13 317.69

311.86 -193.12 326.7

308 -202.99 339.4

306.14 -207.76 345.55

303.41 -214.76 354.56

300.55 -222.07 363.98

296.95 -231.3 375.86

294.09 -238.61 385.28

290.86 -246.88 395.94

288.37 -253.25 404.13

285.64 -260.25 413.14

282.78 -267.56 422.56

279.92 -274.88 431.98

276.32 -284.1 443.86

272.59 -293.65 456.15

269.36 -301.92 466.8

267 -307.96 474.59

264.14 -315.28 484.01

261.54 -321.95 492.61

260.51 -324.58 495.99

260.89 -323.61 494.74

264.6 -314.1 482.49

269.32 -302.01 466.92

273.18 -292.15 454.23

275.91 -285.15 445.21

280.01 -274.65 431.69

282.37 -268.61 423.91

285.97 -259.38 412.03

289.08 -251.43 401.79

291.81 -244.43 392.78

294.55 -237.44 383.77

297.65 -229.48 373.52

301.25 -220.26 361.64

303.86 -213.58 353.04

306.97 -205.63 342.8

310.2 -197.35 332.15

312.06 -192.58 326

315.79 -183.04 313.71

318.9 -175.09 303.47

321.38 -168.73 295.28

323.87 -162.36 287.09

326.85 -154.73 277.26

328.96 -149.32 270.29

332.19 -141.05 259.64

336.42 -130.23 245.71

339.27 -122.92 236.29

343.12 -113.06 223.59

345.73 -106.38 214.99

349.46 -96.83 202.7

353.19 -87.29 190.41

356.05 -79.97 180.99

359.15 -72.02 170.75

362.14 -64.38 160.92

365.24 -56.43 150.67

368.22 -48.8 140.84

371.33 -40.84 130.6

372.48 -37.9 126.81

371.83 -39.57 128.96

369.75 -44.89 135.81

366.65 -52.84 146.05

363.91 -59.84 155.06

361.05 -67.15 164.48

358.82 -72.88 171.86

355.84 -80.52 181.69

352.48 -89.1 192.75

350.37 -94.51 199.71

347.51 -101.83 209.13

344.78 -108.83 218.15

341.92 -116.14 227.57

338.57 -124.73 238.63

336.46 -130.14 245.59

334.22 -135.87 252.97

331.49 -142.86 261.98

328.01 -151.77 273.45

324.9 -159.72 283.69

322.42 -166.09 291.88

318.56 -175.95 304.58

314.84 -185.49 316.87

310.86 -195.67 329.98

306.51 -206.8 344.32

301.79 -218.89 359.89

298.31 -227.8 371.36

295.21 -235.75 381.6

292.6 -242.43 390.2

289.49 -250.38 400.44

287.13 -256.43 408.23

285.14 -261.52 414.78

281.41 -271.06 427.07

278.06 -279.65 438.13

275.82 -285.38 445.5

273.59 -291.1 452.88

270.23 -299.69 463.94

267.75 -306.05 472.13

264.64 -314.01 482.37

262.4 -319.73 489.75

260.53 -324.53 495.92

260.51 -324.58 495.99

260.57 -324.43 495.8

262.49 -319.51 489.46

265.47 -311.87 479.62

267.96 -305.51 471.43

270.69 -298.51 462.42

272.68 -293.42 455.86

275.54 -286.1 446.44

278.89 -277.52 435.38

281.25 -271.47 427.6

283.98 -264.47 418.59

286.84 -257.16 409.16

288.71 -252.39 403.02

292.06 -243.8 391.96

294.92 -236.48 382.54

297.53 -229.8 373.93

300.76 -221.53 363.28

303.74 -213.9 353.45

306.35 -207.22 344.85

309.45 -199.26 334.61

312.81 -190.67 323.55

316.29 -181.77 312.08

319.27 -174.13 302.24

323 -164.59 289.96

326.48 -155.68 278.49

330.33 -145.82 265.79

334.68 -134.69 251.45

338.03 -126.1 240.39

341.63 -116.87 228.51

345.11 -107.97 217.04

348.09 -100.33 207.21

351.57 -91.42 195.74

355.43 -81.56 183.04

357.41 -76.47 176.48

360.27 -69.16 167.06

363.38 -61.2 156.82

367.23 -51.34 144.12

369.84 -44.66 135.52

372.48 -37.91 126.82

372.48 -37.9 126.81

372.48 -37.9 126.8

372.48 -37.9 126.8];

X(1:434,1)=M(1:434,1);

Y(1:434,1)=M(1:434,2);

Z(1:434,1)=M(1:434,3);

%odczytane skrajne położenia startu i zatrzymania(x,y,z):

P=[372.48 -37.9 126.81; 260.51 -324.58 495.99];

%wektor kierunku V=(x2-x1,y2-y1,z2-z1)

V=[P(2,1)-P(1,1) P(2,2)-P(1,2) P(2,3)-P(1,3)];

a=V(1,1);

b=V(1,2);

c=V(1,3);

%odchyłki

for i=1:1:434

wektor=[X(i,1)-P(1,1) Y(i,1)-P(1,2) Z(i,1)-P(1,3)];

F=cross(wektor,V);

fx=sqrt((F(1,1))^2+(F(1,2))^2+(F(1,3))^2);

odleglosc(i,1)=(abs(fx))/sqrt(a^2+b^2+c^2);

end;

maksymalna_odchylka_precOFF=max(odleglosc)

maksymalna_odchylka_precOFF = 0.0085

Określenie maksymalnej odległości od zadanego toru ruchu dla włączonego trybu precyzyjnego:

M=[372.48 -37.9 126.81

372.48 -37.9 126.81

372.46 -37.95 126.88

370.41 -43.21 133.65

367.43 -50.84 143.48

364.69 -57.84 152.49

362.21 -64.2 160.68

358.98 -72.47 171.33

356.24 -79.47 180.35

352.77 -88.38 191.82

349.66 -96.33 202.06

346.06 -105.56 213.94

342.45 -114.78 225.82

340.22 -120.51 233.19

336.99 -128.78 243.84

332.89 -139.28 257.36

330.15 -146.28 266.37

327.3 -153.59 275.79

324.69 -160.27 284.4

320.84 -170.13 297.1

317.11 -179.68 309.39

313.63 -188.58 320.86

310.65 -196.22 330.69

307.79 -203.53 340.11

304.68 -211.49 350.35

301.2 -220.39 361.82

298.35 -227.71 371.24

294.74 -236.94 383.12

292.01 -243.93 392.14

289.4 -250.61 400.74

268.9 -303.1 468.33

264.92 -313.28 481.44

261.86 -321.12 491.54

260.53 -324.53 495.93

260.51 -324.58 495.99

260.58 -324.41 495.77

262.83 -318.64 488.33

265.69 -311.32 478.91

269.04 -302.73 467.85

274.01 -290.01 451.47

276.13 -284.6 444.5

278.98 -277.28 435.08

281.59 -270.6 426.48

284.7 -262.65 416.24

287.31 -255.97 407.63

290.16 -248.65 398.21

292.9 -241.65 389.2

295.26 -235.61 381.42

299.11 -225.75 368.72

301.35 -220.02 361.34

305.45 -209.53 347.82

309.05 -200.3 335.94

312.28 -192.03 325.29

315.38 -184.08 315.05

318.37 -176.44 305.22

320.85 -170.08 297.03

324.08 -161.81 286.38

326.69 -155.13 277.77

329.42 -148.13 268.76

333.65 -137.32 254.83

336.63 -129.68 245

338.62 -124.59 238.45

342.84 -113.78 224.52

345.7 -106.46 215.1

348.19 -100.1 206.9

350.67 -93.73 198.71

352.78 -88.33 191.75

355.27 -81.96 183.55

357.38 -76.56 176.59

360.61 -68.29 165.94

363.22 -61.61 157.34

366.08 -54.29 147.91

368.56 -47.93 139.72

371.77 -39.71 129.14

372.48 -37.9 126.81

371.98 -39.19 128.47

369.91 -44.48 135.28

367.3 -51.16 143.89

364.69 -57.84 152.49

361.34 -66.43 163.55

358.73 -73.11 172.15

355 -82.65 184.44

352.14 -89.97 193.86

349.53 -96.65 202.47

347.17 -102.69 210.25

344.81 -108.74 218.03

341.96 -116.06 227.46

338.48 -124.96 238.93

335.5 -132.6 248.76

331.77 -142.14 261.05

328.17 -151.36 272.93

324.56 -160.59 284.81

322.45 -166 291.77

318.85 -175.22 303.65

315.24 -184.45 315.53

311.52 -193.99 327.82

307.42 -204.49 341.34

304.68 -211.49 350.35

301.83 -218.8 359.77

299.71 -224.21 366.74

296.61 -232.16 376.98

294.37 -237.89 384.35

291.39 -245.52 394.18

288.53 -252.84 403.61

286.05 -259.2 411.8

283.06 -266.84 421.63

280.45 -273.52 430.23

277.6 -280.84 439.66

273.99 -290.06 451.53

271.01 -297.69 461.37

269.27 -302.15 467.1

266.17 -310.1 477.34

263.81 -316.14 485.13

261.56 -321.9 492.53

260.53 -324.53 495.93

260.51 -324.58 495.99

260.95 -323.45 494.54

263.33 -317.36 486.7

267.43 -306.87 473.18

271.03 -297.64 461.3

274.88 -287.78 448.6

277.62 -280.78 439.59

282.34 -268.69 424.02

286.81 -257.24 409.27

290.41 -248.02 397.39

292.65 -242.29 390.02

295.26 -235.61 381.42

297.99 -228.61 372.4

300.6 -221.93 363.8

303.33 -214.93 354.79

306.19 -207.62 345.37

309.05 -200.3 335.94

312.15 -192.35 325.7

315.63 -183.44 314.23

318.37 -176.44 305.22

321.85 -167.54 293.75

324.33 -161.17 285.56

328.8 -149.72 270.81

331.91 -141.77 260.57

334.27 -135.73 252.78

338 -126.18 240.5

340.73 -119.18 231.48

343.22 -112.82 223.29

345.45 -107.1 215.92

348.81 -98.51 204.86

351.29 -92.14 196.66

355.64 -81.01 182.33

359.12 -72.1 170.86

362.1 -64.47 161.02

364.09 -59.38 154.47

366.95 -52.06 145.05

370.05 -44.11 134.81

371.99 -39.16 128.44

372.48 -37.9 126.81

372.36 -38.21 127.21

371.32 -40.87 130.64

368.54 -47.98 139.79

365.44 -55.93 150.03

362.95 -62.3 158.22

360.47 -68.66 166.42

356.62 -78.52 179.12

352.77 -88.38 191.82

349.78 -96.01 201.65

345.43 -107.15 215.99

343.45 -112.24 222.54

341.09 -118.28 230.32

337.11 -128.46 243.43

334.13 -136.1 253.26

330.9 -144.37 263.91

327.79 -152.32 274.16

323.94 -162.18 286.86

321.21 -169.18 295.87

317.73 -178.09 307.34

315 -185.08 316.35

311.64 -193.67 327.41

308.16 -202.58 338.88

306.17 -207.67 345.44

303.32 -214.99 354.86

300.58 -221.98 363.87

297.97 -228.66 372.47

294.87 -236.62 382.71

290.52 -247.75 397.05

288.41 -253.16 404.02

285.3 -261.11 414.26

282.19 -269.06 424.5

278.96 -277.34 435.15

276.23 -284.33 444.16

273.37 -291.65 453.58

270.14 -299.92 464.23

268.03 -305.33 471.2

264.8 -313.6 481.85

261.76 -321.39 491.88

260.63 -324.28 495.61

260.51 -324.58 495.99

260.52 -324.57 495.97

262.34 -319.9 489.96

266.19 -310.05 477.27

269.17 -302.41 467.44

271.78 -295.73 458.84

275.26 -286.82 447.37

278.36 -278.87 437.13

281.09 -271.87 428.12

284.82 -262.33 415.83

288.92 -251.83 402.31

291.9 -244.2 392.48

294.64 -237.2 383.46

298.12 -228.29 371.99

300.85 -221.3 362.98

304.58 -211.75 350.69

307.31 -204.76 341.68

310.42 -196.8 331.44

313.15 -189.8 322.43

319.98 -172.31 299.89

322.72 -165.31 290.88

326.32 -156.08 279

329.3 -148.45 269.17

331.66 -142.41 261.39

334.27 -135.73 252.78

338.49 -124.91 238.86

341.48 -117.27 229.03

344.46 -109.64 219.19

348.31 -99.78 206.49

351.04 -92.78 197.48

353.65 -86.1 188.88

358 -74.97 174.54

360.86 -67.65 165.12

365.33 -56.2 150.37

368.81 -47.29 138.9

371.52 -40.35 129.96

372.48 -37.91 126.83

372.48 -37.9 126.81

371.91 -39.36 128.69

369.16 -46.39 137.74

365.69 -55.3 149.21

363.95 -59.75 154.95

361.09 -67.07 164.37

357.36 -76.61 176.66

353.63 -86.15 188.95

350.78 -93.47 198.37

347.3 -102.38 209.84

344.32 -110.01 219.67

341.46 -117.33 229.09

338.35 -125.28 239.34

333.88 -136.73 254.08

330.65 -145 264.73

327.54 -152.96 274.98

324.81 -159.95 283.99

321.58 -168.22 294.64

318.72 -175.54 304.06

315.49 -183.81 314.71

313.01 -190.17 322.91

310.52 -196.54 331.1

307.29 -204.81 341.75

304.06 -213.08 352.4

301.08 -220.71 362.23

297.35 -230.26 374.52

294.5 -237.57 383.94

291.39 -245.52 394.18

287.41 -255.7 407.29

284.8 -262.38 415.9

281.7 -270.34 426.14

279.09 -277.02 434.74

276.73 -283.06 442.52

273.87 -290.38 451.94

271.14 -297.38 460.96

268.78 -303.42 468.74

264.8 -313.6 481.85

262.44 -319.64 489.63

260.63 -324.28 495.61

260.51 -324.58 495.99

260.58 -324.41 495.77

261.67 -321.61 492.16

264.32 -314.82 483.42

266.93 -308.14 474.82

269.17 -302.41 467.44

272.03 -295.1 458.02

276.5 -283.64 443.27

278.49 -278.55 436.72

281.34 -271.24 427.3

284.32 -263.6 417.47

286.81 -257.24 409.27

290.79 -247.06 396.16

293.77 -239.43 386.33

297.12 -230.84 375.27

299.48 -224.8 367.49

302.22 -217.8 358.48

304.82 -211.12 349.87

307.31 -204.76 341.68

310.54 -196.48 331.03

313.77 -188.21 320.38

316.75 -180.58 310.55

321.47 -168.49 294.98

324.7 -160.22 284.33

326.82 -154.81 277.36

329.67 -147.5 267.94

332.78 -139.54 257.7

335.26 -133.18 249.51

338 -126.18 240.5

340.36 -120.14 232.71

342.72 -114.09 224.93

347.44 -102.01 209.36

350.55 -94.05 199.12

356.76 -78.15 178.64

360.49 -68.6 166.35

363.35 -61.29 156.93

366.58 -53.02 146.28

369.56 -45.38 136.44

371.7 -39.91 129.4

372.48 -37.9 126.81

372.48 -37.9 126.8

372.48 -37.9 126.8];

X(1:357,1)=M(1:357,1);

Y(1:357,1)=M(1:357,2);

Z(1:357,1)=M(1:357,3);

%odczytane skrajne po³o¿enia startu i zatrzymania 1 i 2 (x,y,z):

P=[372.48 -37.9 126.81; 260.51 -324.58 495.99];

%wektor kierunku V=(x2-x1,y2-y1,z2-z1)

V=[P(2,1)-P(1,1) P(2,2)-P(1,2) P(2,3)-P(1,3)];

a=V(1,1);

b=V(1,2);

c=V(1,3);

%odchy³ki

for i=1:1:357

wektor=[X(i,1)-P(1,1) Y(i,1)-P(1,2) Z(i,1)-P(1,3)];

F=cross(wektor,V);

fx=sqrt((F(1,1))^2+(F(1,2))^2+(F(1,3))^2);

odleglosc(i,1)=(abs(fx))/(sqrt(a^2+b^2+c^2));

end;

maksymalna_odchylka_prec_on=max(odleglosc)

maksymalna_odchylka_prec_on = 0.0085

Wnioski:

Podczas wszystkich cykli pracy, niezależnie od włączenia lub wyłączenia trybu precyzyjnego, prędkość średnia była mniejsza w stosunku do prędkości zadanej o około 13%. Prędkość chwilowa przez większość pomiaru nie przekracza prędkości zadanej, wyjątkiem jest kilka sytuacji, w których następny pomiar robota nastąpił w zbyt krótkim odstępie czasowym.

Maksymalne odchylenie od zadanego toru dla obydwu pomiarów jest jednakowe i równe jest: 0.0085.

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