tower.tens File Reference IntroductionThis file defines a large planar tower-like tensegrity structure. The structure has a large number of degrees of freedom (15 actually) and it is used to show the capability of the CuikSuite to solve path planning problems in large dimensional spaces. The objective of this planning problem is to move the tower around an obstacle (the red box). To understant the complexity of this problem, you can try to solve it interactively executing
You can select the degrees of freedom to actuate and increase/decrease them, trying to surround the obstacle. The planning problem to connect the following configuration can be solved automatically executing
The solution path can be visualized executing
This path can be smoothed executing
In this way we first reduce the length of the path and the the control effort. This process is more effective than directly reducing the path effort on the original path: the shortcut path is very effective and it returns a path that is not far from the minimum control effort path (recall that if all elements in the tensegrity are elastic, the control effort and the path length are the same). The smoothed path can be visualized executing
The compressions/tensions along the path can be obtained executing
which generates a file that can be manipulated using, for instance, Matlab
Similarly, the potential energy along the path can be analized executing:
The energy values can be plotted using Matlab executing
Definition in file tower.tens. |
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