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From: Francesco on 15 May 2010 11:58
hello, i wrote down this script and it takes just few seconds to run on matlab7. I don't know why it never ends with matlab 2010. I found on internet there is a bug about this for matlab 2009 and mathworks gave also a patch but nothing about matlab 2010a. Do you know what's the problem.
After waiting a while, when i type ctrl+c the result is


??? Operation terminated by user during ==> sym.simple>simpler at 79

In ==> sym.simple>mupadSimple at 49
[r,h] = simpler('mllib::simplify',s,r,h,p,'100');

In ==> sym.simple at 36
[r,h] = mupadSimple(s,p);

In ==> robot_matriciale at 87
B2=[simple(Bm(1,1)) simple(Bm(1,2)) simple(Bm(1,3));


It seems there is a problem with the "simple" command and matlab can't manage it.

The Script is the follower
Thank you
Francesco

%voglio calcolare il valore del modulo delle velocità dei baricentri
clear all
syms px py pz theta alfa beta ptheta palfa pbeta B C Cb Ab Bb


%variabili libere
q = [theta beta alfa].';

%iacobiano traslazionale e rotazionale di B: prima riga rispetto a x,
%seconda rispetto a y e terza rispetto a z.
%prima colonna rispetto a theta, seconda rispetto beta, terza ad alfa
JpB = [cos(theta)*(C+Bb*sin(beta)) sin(theta)*Bb*cos(beta) 0;
-sin(theta)*(C+Bb*sin(beta)) cos(theta)*Bb*cos(beta) 0;
0 -Bb*sin(beta) 0];

JoB = [0 cos(theta) 0;
0 -sin(theta) 0;
1 0 0];


%iacobiano rot e trasl di A: prima riga rispetto a x,
%seconda rispetto a y e terza rispetto a z.
%prima colonna rispetto a theta, seconda rispetto beta, terza ad alfa
JpA = [cos(theta)*(C+B*sin(beta)-Ab*sin(-alfa+beta)) sin(theta)*(B*cos(beta)-Ab*cos(-alfa+beta)) sin(theta)*Ab*cos(-alfa+beta);
-sin(theta)*(C+B*sin(beta)-Ab*sin(-alfa+beta)) cos(theta)*(B*cos(beta)-Ab*cos(-alfa+beta)) cos(theta)*Ab*cos(-alfa+beta);
0 (-B*sin(beta)+Ab*sin(-alfa+beta)) -Ab*sin(-alfa+beta) ];

JoA = [0 sin(theta) -cos(theta);
0 -cos(theta) sin(theta);
1 0 0];



%iacobiano rot e trasl di C: prima riga rispetto a x,
%seconda rispetto a y e terza rispetto a z.
%prima colonna rispetto a theta, seconda rispetto beta, terza ad alfa

JpC = [cos(theta)*Cb 0 0;
-sin(theta)*Cb 0 0;
0 0 0];

JoC = [0 0 0;
0 0 0;
1 0 0];


r01 = [cos(theta) sin(theta) 0;
-sin(theta) cos(theta) 0;
0 0 1];

r12 = [0 0 1;
sin(beta) cos(beta) 0;
cos(beta) -sin(beta) 0];

r23= [-sin(pi/2+alfa) cos(pi+alfa) 0;
-cos(pi/2+alfa) -sin(alfa+pi) 0;
0 0 -1];


r3 = r01*r12*r23;
r2 = r01*r12;
r1 = r01;



syms p2beta p2alfa p2theta Mc Mb Ma
Jc = [ 0.00009358 0 0
0 0.00009319 -0.00000988
0 -0.00000988 0.00008419 ]; % [kg*m^2]
Jb = [ 0.000378 0.000001 0
0.000001 0.000032 0
0 0 0.000389 ]; % [kg*m^2]

Ja = [ 0.000617 -0.000001 0
-0.000001 0.000027 0
0 0 0.000622 ]; % [kg*m^2]

%Mc = 0.02787; % [kg]
%Mb = 0.264; % [kg]
%Ma = 0.2581; % [kg]


syms Bm Cm g
%matrice B
Bm = Mc*JpC.'*JpC+JoC.'*r1*Jc*r1.'*JoC + Mb*JpB.'*JpB+JoB.'*r2*Jb*r2.'*JoB + Ma*JpA.'*JpA+JoA.'*r3*Ja*r3.'*JoA;

B2=[simple(Bm(1,1)) simple(Bm(1,2)) simple(Bm(1,3));
simple(Bm(2,1)) simple(Bm(2,2)) simple(Bm(2,3));
simple(Bm(3,1)) simple(Bm(3,2)) simple(Bm(3,3))];
Bm=B2
clear B2;


%calcolo gli elementi di christoffel
for i = 1:3,
for j= 1:3,
for k = 1:3,
C2(i,j,k)=0.5*(diff(Bm(i,j),q(k))+diff(Bm(i,k),q(j))-diff(Bm(j,k),q(i)));
C2(i,j,k)=simple(C2(i,j,k));
end
end
end


%Calcolo la matrice Cm
for i = 1:3,
for j= 1:3,
Cm(i,j)=0;
for k= 1:3,
Cm(i,j) = Cm(i,j)+C2(i,j,k)*q(k);
Cm(i,j) = simple(Cm(i,j));
end
end
end
clear C2

Cm
%vettore g
U = (Bb*cos(beta)+B*cos(beta) + Ab* sin(3/2*pi+alfa-beta));
for i = 1:3,
g(i) = diff(U,q(i));
g(i)=simple(g(i));
end
g=g.'
From: Dion on 25 May 2010 06:09
I'm making the same observation and find it really, very strange. Especially when the performance gap is so striking.
From: Dion on 25 May 2010 06:10
I'm making the same observation and find it really, very strange. Especially when the performance gap is so striking.
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