Experiment-specific user definitions

Controller specification

Controller type (choose from list below) (variable name = controlLaw)

controlLaw = OpenLoopControl ;

Controller options (select one above)

. ̈ ... p V i d

Controller model (used only by control laws GravityCompensation[ ] and PartitionedControl[ ]) (variable name = controlModel)

The two choices are "idealModel" or "nonidealModel".

controlModel = robot ;

Controller frequency (Hz) (variable name = freq)

freq = 50 ;

Simulation parameters

Desired trajectory (cubic interpolation) (variable = path)

path = {{0, 0, 0}, {5, 90 Degree, 45 Degree}, {7, 45 Degree, 90 Degree}} ;

Total simulation time

RowBox[{RowBox[{tmax, , =, , 10.}], ;}]

Created by Mathematica  (November 12, 2003)