[syms] Code avec erreur

**BusMagique** · 29/08/2016, 09h55

Bonjour à tous ,

J'utilise un code que d'une thèse de master pour choisir les bons servomoteurs pour mon projet . J'indique bien que le code n'est pas à moi . Or lorsque je met le code sur matlab il m'indique cette erreur

Error using syms (line 89)
Not a valid variable name

.

Voici la ligne 89 :

Code :

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eror(message('symbolic:sym:errmsg1'));

Il me dis que syms n'est pas une variable ???

Celles-ci

Pouvez vous m'aider à corriger ces erreurs car c'est très urgent car je dois réaliser les achats des moteurs , le plus tot possible .
Voici le code en intégralité

Code :

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clear all; clc; close all; digits(25);
%-------------------------------%
% Initialisation des parametres
%-------------------------------%
% Force de contact au pattes
syms NAvGx NAvGy NAvGz real ’d’;
NAvG = [NAvGx; NAvGy; NAvGz];
syms NCeDx NCeDy NCeDz real ’d’;
NCeD = [NCeDx; NCeDy; NCeDz];
syms NArGx NArGy NArGz real ’d’;
NArG = [NArGx; NArGy; NArGz];
%-------------------------------%
%-------------------------------%
% Reaction corps-coxa
syms RBCAvGx RBCAvGy RBCAvGz real;
RBCAvG = [RBCAvGx; RBCAvGy; RBCAvGz];
syms RBCCeDx RBCCeDy RBCCeDz real;
RBCCeD = [RBCCeDx; RBCCeDy; RBCCeDz];
syms RBCArGx RBCArGy RBCArGz real;
RBCArG = [RBCArGx; RBCArGy; RBCArGz];
syms MBCAvGx MBCAvGy MBCAvGz real;
MBCAvG = [MBCAvGx; MBCAvGy; MBCAvGz];
syms MBCCeDx MBCCeDy MBCCeDz real;
MBCCeD = [MBCCeDx; MBCCeDy; MBCCeDz];
syms MBCArGx MBCArGy MBCArGz real;
MBCArG = [MBCArGx; MBCArGy; MBCArGz];
%-------------------------------%
% Reaction femur-tibia
syms RFTAvGx RFTAvGy RFTAvGz real;
RFTAvG = [RFTAvGx; RFTAvGy; RFTAvGz];
syms RFTCeDx RFTCeDy RFTCeDz real;
RFTCeD = [RFTCeDx; RFTCeDy; RFTCeDz];
syms RFTArGx RFTArGy RFTArGz real;
RFTArG = [RFTArGx; RFTArGy; RFTArGz];
syms MFTAvGx MFTAvGy MFTAvGz real;
 
MFTAvG = [MFTAvGx; MFTAvGy; MFTAvGz];
syms MFTCeDx MFTCeDy MFTCeDz real;
MFTCeD = [MFTCeDx; MFTCeDy; MFTCeDz];
syms MFTArGx MFTArGy MFTArGz real;
MFTArG = [MFTArGx; MFTArGy; MFTArGz];
%-------------------------------%
% Reaction coxa-femur
syms RCFAvGx RCFAvGy RCFAvGz real ’d’;
RCFAvG = [RCFAvGx; RCFAvGy; RCFAvGz];
syms RCFCeDx RCFCeDy RCFCeDz real;
RCFCeD = [RCFCeDx; RCFCeDy; RCFCeDz];
syms RCFArGx RCFArGy RCFArGz real;
RCFArG = [RCFArGx; RCFArGy; RCFArGz];
syms MCFAvGx MCFAvGy MCFAvGz real;
MCFAvG = [MCFAvGx; MCFAvGy; MCFAvGz];
syms MCFCeDx MCFCeDy MCFCeDz real;
MCFCeD = [MCFCeDx; MCFCeDy; MCFCeDz];
syms MCFArGx MCFArGy MCFArGz real;
MCFArG = [MCFArGx; MCFArGy; MCFArGz];
%-------------------------------%
% PGI
%-------------------------------%
g = 9.806E-3;
prec = [eps;eps;eps].*rand(3,1);
% Bras de levier en module des longueurs
a = [0,80,100];
b = [0,0,0];
alpha = [pi/2,0,0];
for o = 1:3
HD(:,:,o) = [a;b;alpha];
end
 
% Position des centre de masse dans les repere des membrures
oCDMcorps = [0;0;0];
%oCDMtibia = [23;0;0];
oCDMtibia = [50;0;0];
oCDMfemur = [40;0;0];
oCDMcoxa = [0;0;0];
dRtibia(:,:) = [a(3);b(3);0];
dRfemur = [a(2);b(2);0];
dRcoxa = [a(1);b(1);0];
dRcorps = [106,0,-106;45,-118,45;0,0,0];
%-------------------------------%
% PGI_hexapode
%-------------------------------%
% Position des extremite des pattes
cas =1;
if cas == 1 % Orthogonal
pos = [106,0,-106;125,-198,125;-100,-100,-100];
 
elseif cas == 2 % extreme ortho
pos = dRcorps + [0,0,0;150.71,-150.71,150.71;-70.711,-70.711,-70.711];
elseif cas == 3 % extreme total
pos = dRcorps + [106,0,-106;106.57,-150.71,106.57;-70.711,-70.711,-70.711];
end
 
%-------------------------------%
Qcorps = eye(3); % Orientation du corps
[art,Qhex,Phex] = PGI_hexapode(pos,HD,dRcorps,Qcorps);
mTibia = 47;
mFemur = 62;
mCoxa = 75;
mCorps = 580 + 413;
mtot = 6*(mTibia+mFemur+mCoxa)+mCorps
Wcoxa = Qcorps*[0;0;-mCoxa*g];
Wfemur = Qcorps*[0;0;-mFemur*g];
Wtibia = Qcorps*[0;0;-mTibia*g];
Wcorps = Qcorps*[0;0;-mCorps*g];
Wtot = Wcorps + 6*(Wcoxa+Wfemur+Wtibia);
%-------------------------------%
% Position des centre de masse dans le repere global
LBcdmCAvG = Qcorps*dRcorps(:,1);
LBcdmCCeD = Qcorps*dRcorps(:,2);
LBcdmCArG = Qcorps*dRcorps(:,3);
% Femur
LCFcdmAvG = Phex(:,:,2,1)*oCDMfemur;
LCFcdmCeD = Phex(:,:,2,2)*oCDMfemur;
LCFcdmArG = Phex(:,:,2,3)*oCDMfemur;
LFcdmTAvG = Phex(:,:,2,1)*(dRfemur-oCDMfemur);
LFcdmTCeD = Phex(:,:,2,2)*(dRfemur-oCDMfemur);
LFcdmTArG = Phex(:,:,2,3)*(dRfemur-oCDMfemur);
LFAvG = Phex(:,:,2,1)*dRfemur;
LFCeD = Phex(:,:,2,2)*dRfemur;
LFArG = Phex(:,:,2,3)*dRfemur;
% Tibia
 
LFTcdmAvG = Phex(:,:,3,1)*oCDMtibia;
LFTcdmCeD = Phex(:,:,3,2)*oCDMtibia;
LFTcdmArG = Phex(:,:,3,3)*oCDMtibia;
LTcdmNAvG = Phex(:,:,3,1)*(dRtibia-oCDMtibia);
LTcdmNCeD = Phex(:,:,3,2)*(dRtibia-oCDMtibia);
LTcdmNArG = Phex(:,:,3,3)*(dRtibia-oCDMtibia);
LTAvG = Phex(:,:,3,1)*(dRtibia);
LTCeD = Phex(:,:,3,2)*(dRtibia);
LTArG = Phex(:,:,3,3)*(dRtibia);
%-------------------------------%
% Systeme d’equation
%-------------------------------%
% Globale
%-------------------------------%
% Force sur dirrection Z seulement
NAvG(1:2) = [0;0];
NCeD(1:2) = [0;0];
NArG(1:2) = [0;0];
RBCAvG(1:2) = [0;0];
RBCCeD(1:2) = [0;0];
RBCArG(1:2) = [0;0];
RCFAvG(1:2) = [0;0];
RCFCeD(1:2) = [0;0];
RCFArG(1:2) = [0;0];
RFTAvG(1:2) = [0;0];
RFTCeD(1:2) = [0;0];
RFTArG(1:2) = [0;0];
% Moment en X et Y seulement
MBCAvG(3) = 0;
 
MBCCeD(3) = 0;
MBCArG(3) = 0;
MCFAvG(3) = 0;
MCFCeD(3) = 0;
MCFArG(3) = 0;
MFTAvG(3) = 0;
MFTCeD(3) = 0;
MFTArG(3) = 0;
% Contraintes globales
SFGLOB = (Wcorps + 6*(Wcoxa + Wfemur + Wtibia) + NAvG + NCeD + NArG);
SMGLOB = (cross(LBcdmCAvG+LFAvG+LTAvG,NAvG) + cross(LBcdmCCeD+LFCeD+LTCeD,NCeD) + cross(LBcdmCArG+LFArG+LTArG,NArG) + cross(LBcdmCAvG,Wcoxa) + cross(LBcdmCCeD,Wcoxa) + cross(LBcdmCArG,Wcoxa) + cross(LBcdmCAvG+LCFcdmAvG,Wfemur) + cross(LBcdmCCeD+LCFcdmCeD,Wfemur) + cross(LBcdmCArG+LCFcdmArG,Wfemur) + cross(LBcdmCAvG+LFAvG+LFTcdmAvG,Wtibia) + cross(LBcdmCCeD+LFCeD+LFTcdmCeD,Wtibia) + cross(LBcdmCArG+LFArG+LFTcdmArG,Wtibia));
% Resolution pour force de contact en Z
n = solve(SFGLOB(3),SMGLOB(1),SMGLOB(2));
NAvGz = eval(n.NAvGz);
NCeDz = eval(n.NCeDz);
NArGz = eval(n.NArGz);
check = NAvGz+NCeDz+NArGz;
%-------------------------------------------------------------------%
% Autres equations de contrainte interne
% Corps B
%-------------------------------%
% Somme force
SFB = RBCAvG + RBCCeD + RBCArG + Wcorps + 3*(Wcoxa + Wfemur + Wtibia) + prec;
% Somme moment (bras de levier au cdm)
SMB = (cross(LBcdmCAvG,RBCAvG) + cross(LBcdmCCeD,RBCCeD) + cross(LBcdmCArG,RBCArG) + MBCAvG + MBCCeD + MBCArG) + prec;
%-------------------------------%
% Patte
%-------------------------------%
% Coxa C
% Somme force
SFCAvG = (-RBCAvG + RCFAvG + Wcoxa) + prec;
SFCCeD = (-RBCCeD + RCFCeD + Wcoxa) + prec;
SFCArG = (-RBCArG + RCFArG + Wcoxa) + prec;
% Somme moment (bras de levier au cdm)
SMCAvG = (-MBCAvG + MCFAvG) + prec;
SMCCeD = (-MBCCeD + MCFCeD) + prec;
SMCArG = (-MBCArG + MCFArG) + prec;
%-------------------------------%
% Femur F
% Somme force
SFFAvG = (-RCFAvG + RFTAvG + Wfemur) + prec;
SFFCeD = (-RCFCeD + RFTCeD + Wfemur) + prec;
SFFArG = (-RCFArG + RFTArG + Wfemur) + prec;
% Somme moment (bras de levier au cdm)
SMFAvG = (cross(-LCFcdmAvG,-RCFAvG) + cross(LFcdmTAvG,RFTAvG) - MCFAvG + MFTAvG) + prec;
SMFCeD = (cross(-LCFcdmCeD,-RCFCeD) + cross(LFcdmTCeD,RFTCeD) - MCFCeD + MFTCeD) + prec;
SMFArG = (cross(-LCFcdmArG,-RCFArG) + cross(LFcdmTArG,RFTArG) - MCFArG + MFTArG) + prec;
%-------------------------------%
% Tibia T
% Somme force
SFTAvG = (-RFTAvG + NAvG + Wtibia) + prec;
SFTCeD = (-RFTCeD + NCeD + Wtibia) + prec;
SFTArG = (-RFTArG + NArG + Wtibia) + prec;
% Somme moments (bras de levier au cdm)
SMTAvG = (cross(-LFTcdmAvG,-RFTAvG) - MFTAvG + cross(LTcdmNAvG,NAvG))+ prec;
SMTCeD = (cross(-LFTcdmCeD,-RFTCeD) - MFTCeD + cross(LTcdmNCeD,NCeD))+ prec;
SMTArG = (cross(-LFTcdmArG,-RFTArG) - MFTArG + cross(LTcdmNArG,NArG))+ prec;
%-------------------------------%
% Resolution
%-------------------------------%
sol = solve(SFB(3),SMB(1),SMB(2),SFCAvG(3),SMCAvG(1),SMCAvG(2),SFFAvG(3),SMFAvG(1),SMFAvG(2),SFTAvG(3),SMTAvG(1),SMTAvG(2),SFCCeD(3),SMCCeD(1),SMCCeD(2),SFFCeD(3),SMFCeD(1),SMFCeD(2),SFTCeD(3),SMTCeD(1),SMTCeD(2),SFCArG(3),SMCArG(1),SMCArG(2),SFFArG(3),SMFArG(1),SMFArG(2),SFTArG(3),SMTArG(1),SMTArG(2));
NAvGz = eval(sol.NAvGz);
NCeDz = eval(sol.NCeDz);
NArGz = eval(sol.NArGz);
check = NAvGz+NCeDz+NArGz;
MBCAvGx = eval(sol.MBCArGx);
MBCCeDx = eval(sol.MBCCeDx);
MBCArGx = eval(sol.MBCAvGx);
MBCArGy = eval(sol.MBCArGy);
MBCCeDy = eval(sol.MBCCeDy);
MBCArGy = eval(sol.MBCAvGy);
MCFAvGx = eval(sol.MCFArGx);
MCFCeDx = eval(sol.MCFCeDx);
MCFArGx = eval(sol.MCFAvGx);
MCFAvGy = eval(sol.MCFArGy);
MCFCeDy = eval(sol.MCFCeDy);
MCFArGy = eval(sol.MCFAvGy);
MFTAvGx = eval(sol.MFTArGx);
MFTCeDx = eval(sol.MFTCeDx);
MFTArGx = eval(sol.MFTAvGx);
MFTAvGy = eval(sol.MFTAvGy);
MFTCeDy = eval(sol.MFTCeDy);
MFTArGy = eval(sol.MFTArGy);
RBCArGz = eval(sol.RBCArGz);
RBCCeDz = eval(sol.RBCCeDz);
RBCAvGz = eval(sol.RBCAvGz);
RCFAvGz = eval(sol.RCFAvGz);
RCFCeDz = eval(sol.RCFCeDz);
RCFArGz = eval(sol.RCFArGz);
RFTAvGz = eval(sol.RFTAvGz);
RFTCeDz = eval(sol.RFTCeDz);
RFTArGz = eval(sol.RFTArGz);
MCFAvG_patte = Phex(:,:,2,1)’*MCFAvG;
subs(MCFAvG_patte)
MCFCeD_patte = Phex(:,:,2,2)’*MCFCeD;
subs(MCFCeD_patte)
MCFArG_patte = Phex(:,:,2,3)’*MCFArG;
subs(MCFArG_patte)
%-------------------------------%
affichage = 1;
if affichage == 1
figure;
hold on;
plot3([LBcdmCAvG(1),LBcdmCCeD(1),LBcdmCArG(1),LBcdmCAvG(1)],[LBcdmCAvG(2),LBcdmCCeD(2),LBcdmCArG(2),LBcdmCAvG(2)],[LBcdmCAvG(3),LBcdmCCeD(3),LBcdmCArG(3),LBcdmCAvG(3)],’k-’);
plot3([0, LBcdmCAvG(1), LBcdmCAvG(1)+LFAvG(1), LBcdmCAvG(1)+LFAvG(1)+LTAvG(1)],[0, LBcdmCAvG(2), LBcdmCAvG(2)+LFAvG(2), LBcdmCAvG(2)+LFAvG(2)+LTAvG(2)],[0, LBcdmCAvG(3), LBcdmCAvG(3)+LFAvG(3), LBcdmCAvG(3)+LFAvG(3)+LTAvG(3)],’o-b’);
plot3([0, LBcdmCCeD(1), LBcdmCCeD(1)+LFCeD(1), LBcdmCCeD(1)+LFCeD(1)+LTCeD(1)],[0, LBcdmCCeD(2), LBcdmCCeD(2)+LFCeD(2), LBcdmCCeD(2)+LFCeD(2)+LTCeD(2)],[0, LBcdmCCeD(3), LBcdmCCeD(3)+LFCeD(3), LBcdmCCeD(3)+LFCeD(3)+LTCeD(3)],’o-r’);
plot3([0, LBcdmCArG(1), LBcdmCArG(1)+LFArG(1), LBcdmCArG(1)+LFArG(1)+LTArG(1)],[0, LBcdmCArG(2), LBcdmCArG(2)+LFArG(2), LBcdmCArG(2)+LFArG(2)+LTArG(2)],[0, LBcdmCArG(3), LBcdmCArG(3)+LFArG(3), LBcdmCArG(3)+LFArG(3)+LTArG(3)],’o-g’);
% Femur
plot3(LBcdmCAvG(1)+LCFcdmAvG(1), LBcdmCAvG(2)+LCFcdmAvG(2),LBcdmCAvG(3)+LCFcdmAvG(3),’xk’);
plot3(LBcdmCCeD(1)+LCFcdmCeD(1), LBcdmCCeD(2)+LCFcdmCeD(2),LBcdmCCeD(3)+LCFcdmCeD(3),’xk’);
plot3(LBcdmCArG(1)+LCFcdmArG(1), LBcdmCArG(2)+LCFcdmArG(2),LBcdmCArG(3)+LCFcdmArG(3),’xk’);
% Tibia
plot3(LBcdmCAvG(1)+LFAvG(1)+LFTcdmAvG(1),LBcdmCAvG(2)+LFAvG(2)+LFTcdmAvG(2), LBcdmCAvG(3)+LFAvG(3)+LFTcdmAvG(3),’xk’);
plot3(LBcdmCCeD(1)+LFCeD(1)+LFTcdmCeD(1),LBcdmCCeD(2)+LFCeD(2)+LFTcdmCeD(2),LBcdmCCeD(3)+LFCeD(3)+LFTcdmCeD(3),’xk’);
plot3(LBcdmCArG(1)+LFArG(1)+LFTcdmArG(1),LBcdmCArG(2)+LFArG(2)+LFTcdmArG(2),LBcdmCArG(3)+LFArG(3)+LFTcdmArG(3),’xk’);
xlabel(’X’); ylabel(’Y’); zlabel(’Z’);
axis equal;
% view(3)
view([0,0,180]);
% Affichage du cercle de contact
[cC,r] = cercle3pts(pos(1:2,:)’);
t = 0:0.01:2*pi+0.01;
for o = 1:size(t,2)
x(o) = cC(1) + r*cos(t(o));
y(o) = cC(2) + r*sin(t(o));
end
plot3(x,y,ones(1,size(x,2))*pos(3,1),’c-’);
plot3(cC(1),cC(2),pos(3,1),’c+’);
% Affichage du cercle d’ancrage
[cA,r] = cercle3pts(dRcorps(1:2,:)’);
t = 0:0.01:2*pi+0.01;
for o = 1:size(t,2)
x(o) = cA(1) + r*cos(t(o));
y(o) = cA(2) + r*sin(t(o));
end
plot3(x,y,ones(1,size(x,2))*pos(3,1),’m-’);
plot3(cA(1),cA(2),pos(3,1),’m+’);
distCentre = norm(cA-cC)
end

**Jerome Briot** · 29/08/2016, 10h07

Il nous faudrait le message d'erreur complet

Possèdes-tu la Symbolic Math Toolbox ?
Voir la FAQ : Comment connaitre la liste des Toolbox installées sur un ordinateur ?

**BusMagique** · 29/08/2016, 15h38

Merci pour votre réactivité .

Je vais essayé de voir si j'ai se que tu me dis et je reviendrais vers toi.
Est ce que cette erreure n'est pas due à une version de Matlab trop récente ?(j'utilise le 2016) or j'utilise un code Matlab de 2006 !!

**BusMagique** · 30/08/2016, 12h24

Voici la liste

----------------------------------------------------------------------------------------------------
MATLAB Version: 9.0.0.341360 (R2016a)
MATLAB License Number: DEMO
Operating System: Microsoft Windows 8.1 Version 6.3 (Build 9600)
Java Version: Java 1.7.0_60-b19 with Oracle Corporation Java HotSpot(TM) 64-Bit Server VM mixed mode
----------------------------------------------------------------------------------------------------
MATLAB                                                Version 9.0         (R2016a)
Curve Fitting Toolbox                                 Version 3.5.3       (R2016a)
Database Toolbox                                      Version 6.1         (R2016a)
Global Optimization Toolbox                           Version 3.4         (R2016a)
Neural Network Toolbox                                Version 9.0         (R2016a)
Optimization Toolbox                                  Version 7.4         (R2016a)
Parallel Computing Toolbox                            Version 6.8         (R2016a)
Statistics and Machine Learning Toolbox               Version 10.2        (R2016a)
Symbolic Math Toolbox                                 Version 7.0         (R2016a)

**Jerome Briot** · 30/08/2016, 12h59

L'erreur ne se trouve pas dans la fonction syms mais dans le code que tu utilises.

Fais un copier/coller de l'ensemble du message d'erreur (toutes les lignes en rouge)

Il me semble voir des caractères bizarres dans le code :

Code :

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syms NAvGx NAvGy NAvGz real ’d’;

Remplace déjà tous ces caractères par des guillemets simples ' dans toutes les lignes de code concernées.

**BusMagique** · 30/08/2016, 15h21

j'ai midifier pour les guillemets
voici le code modifié

Code :

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Trial>> clear all; clc; close all; digits(25);
%-------------------------------%
% Initialisation des parametres
%-------------------------------%
% Force de contact au pattes
syms NAvGx NAvGy NAvGz real 'd';
NAvG = [NAvGx; NAvGy; NAvGz];
syms NCeDx NCeDy NCeDz real 'd';
NCeD = [NCeDx; NCeDy; NCeDz];
syms NArGx NArGy NArGz real 'd';
NArG = [NArGx; NArGy; NArGz];
%-------------------------------%
%-------------------------------%
% Reaction corps-coxa
syms RBCAvGx RBCAvGy RBCAvGz real;
RBCAvG = [RBCAvGx; RBCAvGy; RBCAvGz];
syms RBCCeDx RBCCeDy RBCCeDz real;
RBCCeD = [RBCCeDx; RBCCeDy; RBCCeDz];
syms RBCArGx RBCArGy RBCArGz real;
RBCArG = [RBCArGx; RBCArGy; RBCArGz];
syms MBCAvGx MBCAvGy MBCAvGz real;
MBCAvG = [MBCAvGx; MBCAvGy; MBCAvGz];
syms MBCCeDx MBCCeDy MBCCeDz real;
MBCCeD = [MBCCeDx; MBCCeDy; MBCCeDz];
syms MBCArGx MBCArGy MBCArGz real;
MBCArG = [MBCArGx; MBCArGy; MBCArGz];
%-------------------------------%
% Reaction femur-tibia
syms RFTAvGx RFTAvGy RFTAvGz real;
RFTAvG = [RFTAvGx; RFTAvGy; RFTAvGz];
syms RFTCeDx RFTCeDy RFTCeDz real;
RFTCeD = [RFTCeDx; RFTCeDy; RFTCeDz];
syms RFTArGx RFTArGy RFTArGz real;
RFTArG = [RFTArGx; RFTArGy; RFTArGz];
syms MFTAvGx MFTAvGy MFTAvGz real;
 
MFTAvG = [MFTAvGx; MFTAvGy; MFTAvGz];
syms MFTCeDx MFTCeDy MFTCeDz real;
MFTCeD = [MFTCeDx; MFTCeDy; MFTCeDz];
syms MFTArGx MFTArGy MFTArGz real;
MFTArG = [MFTArGx; MFTArGy; MFTArGz];
%-------------------------------%
% Reaction coxa-femur
syms RCFAvGx RCFAvGy RCFAvGz real 'd';
RCFAvG = [RCFAvGx; RCFAvGy; RCFAvGz];
syms RCFCeDx RCFCeDy RCFCeDz real;
RCFCeD = [RCFCeDx; RCFCeDy; RCFCeDz];
syms RCFArGx RCFArGy RCFArGz real;
RCFArG = [RCFArGx; RCFArGy; RCFArGz];
syms MCFAvGx MCFAvGy MCFAvGz real;
MCFAvG = [MCFAvGx; MCFAvGy; MCFAvGz];
syms MCFCeDx MCFCeDy MCFCeDz real;
MCFCeD = [MCFCeDx; MCFCeDy; MCFCeDz];
syms MCFArGx MCFArGy MCFArGz real;
MCFArG = [MCFArGx; MCFArGy; MCFArGz];
%-------------------------------%
% PGI
%-------------------------------%
g = 9.806E-3;
prec = [eps;eps;eps].*rand(3,1);
% Bras de levier en module des longueurs
a = [0,80,100];
b = [0,0,0];
alpha = [pi/2,0,0];
for o = 1:3
HD(:,:,o) = [a;b;alpha];
end
 
% Position des centre de masse dans les repere des membrures
oCDMcorps = [0;0;0];
%oCDMtibia = [23;0;0];
oCDMtibia = [50;0;0];
oCDMfemur = [40;0;0];
oCDMcoxa = [0;0;0];
dRtibia(:,:) = [a(3);b(3);0];
dRfemur = [a(2);b(2);0];
dRcoxa = [a(1);b(1);0];
dRcorps = [106,0,-106;45,-118,45;0,0,0];
%-------------------------------%
% PGI_hexapode
%-------------------------------%
% Position des extremite des pattes
cas =1;
if cas == 1 % Orthogonal
pos = [106,0,-106;125,-198,125;-100,-100,-100];
 
elseif cas == 2 % extreme ortho
pos = dRcorps + [0,0,0;150.71,-150.71,150.71;-70.711,-70.711,-70.711];
elseif cas == 3 % extreme total
pos = dRcorps + [106,0,-106;106.57,-150.71,106.57;-70.711,-70.711,-70.711];
end
 
%-------------------------------%
Qcorps = eye(3); % Orientation du corps
[art,Qhex,Phex] = PGI_hexapode(pos,HD,dRcorps,Qcorps);
mTibia = 47;
mFemur = 62;
mCoxa = 75;
mCorps = 580 + 413;
mtot = 6*(mTibia+mFemur+mCoxa)+mCorps
Wcoxa = Qcorps*[0;0;-mCoxa*g];
Wfemur = Qcorps*[0;0;-mFemur*g];
Wtibia = Qcorps*[0;0;-mTibia*g];
Wcorps = Qcorps*[0;0;-mCorps*g];
Wtot = Wcorps + 6*(Wcoxa+Wfemur+Wtibia);
%-------------------------------%
% Position des centre de masse dans le repere global
LBcdmCAvG = Qcorps*dRcorps(:,1);
LBcdmCCeD = Qcorps*dRcorps(:,2);
LBcdmCArG = Qcorps*dRcorps(:,3);
% Femur
LCFcdmAvG = Phex(:,:,2,1)*oCDMfemur;
LCFcdmCeD = Phex(:,:,2,2)*oCDMfemur;
LCFcdmArG = Phex(:,:,2,3)*oCDMfemur;
LFcdmTAvG = Phex(:,:,2,1)*(dRfemur-oCDMfemur);
LFcdmTCeD = Phex(:,:,2,2)*(dRfemur-oCDMfemur);
LFcdmTArG = Phex(:,:,2,3)*(dRfemur-oCDMfemur);
LFAvG = Phex(:,:,2,1)*dRfemur;
LFCeD = Phex(:,:,2,2)*dRfemur;
LFArG = Phex(:,:,2,3)*dRfemur;
% Tibia
 
LFTcdmAvG = Phex(:,:,3,1)*oCDMtibia;
LFTcdmCeD = Phex(:,:,3,2)*oCDMtibia;
LFTcdmArG = Phex(:,:,3,3)*oCDMtibia;
LTcdmNAvG = Phex(:,:,3,1)*(dRtibia-oCDMtibia);
LTcdmNCeD = Phex(:,:,3,2)*(dRtibia-oCDMtibia);
LTcdmNArG = Phex(:,:,3,3)*(dRtibia-oCDMtibia);
LTAvG = Phex(:,:,3,1)*(dRtibia);
LTCeD = Phex(:,:,3,2)*(dRtibia);
LTArG = Phex(:,:,3,3)*(dRtibia);
%-------------------------------%
% Systeme d’equation
%-------------------------------%
% Globale
%-------------------------------%
% Force sur dirrection Z seulement
NAvG(1:2) = [0;0];
NCeD(1:2) = [0;0];
NArG(1:2) = [0;0];
RBCAvG(1:2) = [0;0];
RBCCeD(1:2) = [0;0];
RBCArG(1:2) = [0;0];
RCFAvG(1:2) = [0;0];
RCFCeD(1:2) = [0;0];
RCFArG(1:2) = [0;0];
RFTAvG(1:2) = [0;0];
RFTCeD(1:2) = [0;0];
RFTArG(1:2) = [0;0];
% Moment en X et Y seulement
MBCAvG(3) = 0;
 
MBCCeD(3) = 0;
MBCArG(3) = 0;
MCFAvG(3) = 0;
MCFCeD(3) = 0;
MCFArG(3) = 0;
MFTAvG(3) = 0;
MFTCeD(3) = 0;
MFTArG(3) = 0;
% Contraintes globales
SFGLOB = (Wcorps + 6*(Wcoxa + Wfemur + Wtibia) + NAvG + NCeD + NArG);
SMGLOB = (cross(LBcdmCAvG+LFAvG+LTAvG,NAvG) + cross(LBcdmCCeD+LFCeD+LTCeD,NCeD) + cross(LBcdmCArG+LFArG+LTArG,NArG) + cross(LBcdmCAvG,Wcoxa) + cross(LBcdmCCeD,Wcoxa) + cross(LBcdmCArG,Wcoxa) + cross(LBcdmCAvG+LCFcdmAvG,Wfemur) + cross(LBcdmCCeD+LCFcdmCeD,Wfemur) + cross(LBcdmCArG+LCFcdmArG,Wfemur) + cross(LBcdmCAvG+LFAvG+LFTcdmAvG,Wtibia) + cross(LBcdmCCeD+LFCeD+LFTcdmCeD,Wtibia) + cross(LBcdmCArG+LFArG+LFTcdmArG,Wtibia));
% Resolution pour force de contact en Z
n = solve(SFGLOB(3),SMGLOB(1),SMGLOB(2));
NAvGz = eval(n.NAvGz);
NCeDz = eval(n.NCeDz);
NArGz = eval(n.NArGz);
check = NAvGz+NCeDz+NArGz;
%-------------------------------------------------------------------%
% Autres equations de contrainte interne
% Corps B
%-------------------------------%
% Somme force
SFB = RBCAvG + RBCCeD + RBCArG + Wcorps + 3*(Wcoxa + Wfemur + Wtibia) + prec;
% Somme moment (bras de levier au cdm)
SMB = (cross(LBcdmCAvG,RBCAvG) + cross(LBcdmCCeD,RBCCeD) + cross(LBcdmCArG,RBCArG) + MBCAvG + MBCCeD + MBCArG) + prec;
%-------------------------------%
% Patte
%-------------------------------%
% Coxa C
% Somme force
SFCAvG = (-RBCAvG + RCFAvG + Wcoxa) + prec;
SFCCeD = (-RBCCeD + RCFCeD + Wcoxa) + prec;
SFCArG = (-RBCArG + RCFArG + Wcoxa) + prec;
% Somme moment (bras de levier au cdm)
SMCAvG = (-MBCAvG + MCFAvG) + prec;
SMCCeD = (-MBCCeD + MCFCeD) + prec;
SMCArG = (-MBCArG + MCFArG) + prec;
%-------------------------------%
% Femur F
% Somme force
SFFAvG = (-RCFAvG + RFTAvG + Wfemur) + prec;
SFFCeD = (-RCFCeD + RFTCeD + Wfemur) + prec;
SFFArG = (-RCFArG + RFTArG + Wfemur) + prec;
% Somme moment (bras de levier au cdm)
SMFAvG = (cross(-LCFcdmAvG,-RCFAvG) + cross(LFcdmTAvG,RFTAvG) - MCFAvG + MFTAvG) + prec;
SMFCeD = (cross(-LCFcdmCeD,-RCFCeD) + cross(LFcdmTCeD,RFTCeD) - MCFCeD + MFTCeD) + prec;
SMFArG = (cross(-LCFcdmArG,-RCFArG) + cross(LFcdmTArG,RFTArG) - MCFArG + MFTArG) + prec;
%-------------------------------%
% Tibia T
% Somme force
SFTAvG = (-RFTAvG + NAvG + Wtibia) + prec;
SFTCeD = (-RFTCeD + NCeD + Wtibia) + prec;
SFTArG = (-RFTArG + NArG + Wtibia) + prec;
% Somme moments (bras de levier au cdm)
SMTAvG = (cross(-LFTcdmAvG,-RFTAvG) - MFTAvG + cross(LTcdmNAvG,NAvG))+ prec;
SMTCeD = (cross(-LFTcdmCeD,-RFTCeD) - MFTCeD + cross(LTcdmNCeD,NCeD))+ prec;
SMTArG = (cross(-LFTcdmArG,-RFTArG) - MFTArG + cross(LTcdmNArG,NArG))+ prec;
%-------------------------------%
% Resolution
%-------------------------------%
sol = solve(SFB(3),SMB(1),SMB(2),SFCAvG(3),SMCAvG(1),SMCAvG(2),SFFAvG(3),SMFAvG(1),SMFAvG(2),SFTAvG(3),SMTAvG(1),SMTAvG(2),SFCCeD(3),SMCCeD(1),SMCCeD(2),SFFCeD(3),SMFCeD(1),SMFCeD(2),SFTCeD(3),SMTCeD(1),SMTCeD(2),SFCArG(3),SMCArG(1),SMCArG(2),SFFArG(3),SMFArG(1),SMFArG(2),SFTArG(3),SMTArG(1),SMTArG(2));
NAvGz = eval(sol.NAvGz);
NCeDz = eval(sol.NCeDz);
NArGz = eval(sol.NArGz);
check = NAvGz+NCeDz+NArGz;
MBCAvGx = eval(sol.MBCArGx);
MBCCeDx = eval(sol.MBCCeDx);
MBCArGx = eval(sol.MBCAvGx);
MBCArGy = eval(sol.MBCArGy);
MBCCeDy = eval(sol.MBCCeDy);
MBCArGy = eval(sol.MBCAvGy);
MCFAvGx = eval(sol.MCFArGx);
MCFCeDx = eval(sol.MCFCeDx);
MCFArGx = eval(sol.MCFAvGx);
MCFAvGy = eval(sol.MCFArGy);
MCFCeDy = eval(sol.MCFCeDy);
MCFArGy = eval(sol.MCFAvGy);
MFTAvGx = eval(sol.MFTArGx);
MFTCeDx = eval(sol.MFTCeDx);
MFTArGx = eval(sol.MFTAvGx);
MFTAvGy = eval(sol.MFTAvGy);
MFTCeDy = eval(sol.MFTCeDy);
MFTArGy = eval(sol.MFTArGy);
RBCArGz = eval(sol.RBCArGz);
RBCCeDz = eval(sol.RBCCeDz);
RBCAvGz = eval(sol.RBCAvGz);
RCFAvGz = eval(sol.RCFAvGz);
RCFCeDz = eval(sol.RCFCeDz);
RCFArGz = eval(sol.RCFArGz);
RFTAvGz = eval(sol.RFTAvGz);
RFTCeDz = eval(sol.RFTCeDz);
RFTArGz = eval(sol.RFTArGz);
MCFAvG_patte = Phex(:,:,2,1)'*MCFAvG;
subs(MCFAvG_patte)
MCFCeD_patte = Phex(:,:,2,2)'*MCFCeD;
subs(MCFCeD_patte)
MCFArG_patte = Phex(:,:,2,3)'*MCFArG;
subs(MCFArG_patte)
%-------------------------------%
affichage = 1;
if affichage == 1
figure;
hold on;
plot3([LBcdmCAvG(1),LBcdmCCeD(1),LBcdmCArG(1),LBcdmCAvG(1)],[LBcdmCAvG(2),LBcdmCCeD(2),LBcdmCArG(2),LBcdmCAvG(2)],[LBcdmCAvG(3),LBcdmCCeD(3),LBcdmCArG(3),LBcdmCAvG(3)],'k-');
plot3([0, LBcdmCAvG(1), LBcdmCAvG(1)+LFAvG(1), LBcdmCAvG(1)+LFAvG(1)+LTAvG(1)],[0, LBcdmCAvG(2), LBcdmCAvG(2)+LFAvG(2), LBcdmCAvG(2)+LFAvG(2)+LTAvG(2)],[0, LBcdmCAvG(3), LBcdmCAvG(3)+LFAvG(3), LBcdmCAvG(3)+LFAvG(3)+LTAvG(3)],'o-b');
plot3([0, LBcdmCCeD(1), LBcdmCCeD(1)+LFCeD(1), LBcdmCCeD(1)+LFCeD(1)+LTCeD(1)],[0, LBcdmCCeD(2), LBcdmCCeD(2)+LFCeD(2), LBcdmCCeD(2)+LFCeD(2)+LTCeD(2)],[0, LBcdmCCeD(3), LBcdmCCeD(3)+LFCeD(3), LBcdmCCeD(3)+LFCeD(3)+LTCeD(3)],'o-r');
plot3([0, LBcdmCArG(1), LBcdmCArG(1)+LFArG(1), LBcdmCArG(1)+LFArG(1)+LTArG(1)],[0, LBcdmCArG(2), LBcdmCArG(2)+LFArG(2), LBcdmCArG(2)+LFArG(2)+LTArG(2)],[0, LBcdmCArG(3), LBcdmCArG(3)+LFArG(3), LBcdmCArG(3)+LFArG(3)+LTArG(3)],'o-g');
% Femur
plot3(LBcdmCAvG(1)+LCFcdmAvG(1), LBcdmCAvG(2)+LCFcdmAvG(2),LBcdmCAvG(3)+LCFcdmAvG(3),'xk');
plot3(LBcdmCCeD(1)+LCFcdmCeD(1), LBcdmCCeD(2)+LCFcdmCeD(2),LBcdmCCeD(3)+LCFcdmCeD(3),'xk');
plot3(LBcdmCArG(1)+LCFcdmArG(1), LBcdmCArG(2)+LCFcdmArG(2),LBcdmCArG(3)+LCFcdmArG(3),'xk');
% Tibia
plot3(LBcdmCAvG(1)+LFAvG(1)+LFTcdmAvG(1),LBcdmCAvG(2)+LFAvG(2)+LFTcdmAvG(2), LBcdmCAvG(3)+LFAvG(3)+LFTcdmAvG(3),'xk');
plot3(LBcdmCCeD(1)+LFCeD(1)+LFTcdmCeD(1),LBcdmCCeD(2)+LFCeD(2)+LFTcdmCeD(2),LBcdmCCeD(3)+LFCeD(3)+LFTcdmCeD(3),'xk');
plot3(LBcdmCArG(1)+LFArG(1)+LFTcdmArG(1),LBcdmCArG(2)+LFArG(2)+LFTcdmArG(2),LBcdmCArG(3)+LFArG(3)+LFTcdmArG(3),'xk');
xlabel('X'); ylabel('Y'); zlabel('Z');
axis equal;
% view(3)
view([0,0,180]);
% Affichage du cercle de contact
[cC,r] = cercle3pts(pos(1:2,:)');
t = 0:0.01:2*pi+0.01;
for o = 1:size(t,2)
x(o) = cC(1) + r*cos(t(o));
y(o) = cC(2) + r*sin(t(o));
end
plot3(x,y,ones(1,size(x,2))*pos(3,1),'c-');
plot3(cC(1),cC(2),pos(3,1),'c+');
% Affichage du cercle d’ancrage
[cA,r] = cercle3pts(dRcorps(1:2,:)');
t = 0:0.01:2*pi+0.01;
for o = 1:size(t,2)
x(o) = cA(1) + r*cos(t(o));
y(o) = cA(2) + r*sin(t(o));
end
plot3(x,y,ones(1,size(x,2))*pos(3,1),'m-');
plot3(cA(1),cA(2),pos(3,1),'m+');
distCentre = norm(cA-cC)
end

Le seul méssage d'ereur que j'obtien c'est ca

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Error using syms (line 89)
Not a valid variable name.

Je n'ai pas l'habitude d'utiliser matlab

**Jerome Briot** · 30/08/2016, 15h52

Je ne connais pas bien cette toolbox mais essaie en supprimant les 'd' à la fin des premières lignes de code commençant par syms

**BusMagique** · 30/08/2016, 16h49

j'ai enlever ce que tu ma dis et c'est beaucoup mieux , toutes les variables apparaissent .
Mais j'ai encore une erreur

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Undefined function or variable 'PGI_hexapode'.

voici le code modifié

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clear all; clc; close all; digits(25);
%-------------------------------%
% Initialisation des parametres
%-------------------------------%
% Force de contact au pattes
syms NAvGx NAvGy NAvGz real ;
NAvG = [NAvGx; NAvGy; NAvGz];
syms NCeDx NCeDy NCeDz real ;
NCeD = [NCeDx; NCeDy; NCeDz];
syms NArGx NArGy NArGz real ;
NArG = [NArGx; NArGy; NArGz];
%-------------------------------%
%-------------------------------%
% Reaction corps-coxa
syms RBCAvGx RBCAvGy RBCAvGz real;
RBCAvG = [RBCAvGx; RBCAvGy; RBCAvGz];
syms RBCCeDx RBCCeDy RBCCeDz real;
RBCCeD = [RBCCeDx; RBCCeDy; RBCCeDz];
syms RBCArGx RBCArGy RBCArGz real;
RBCArG = [RBCArGx; RBCArGy; RBCArGz];
syms MBCAvGx MBCAvGy MBCAvGz real;
MBCAvG = [MBCAvGx; MBCAvGy; MBCAvGz];
syms MBCCeDx MBCCeDy MBCCeDz real;
MBCCeD = [MBCCeDx; MBCCeDy; MBCCeDz];
syms MBCArGx MBCArGy MBCArGz real;
MBCArG = [MBCArGx; MBCArGy; MBCArGz];
%-------------------------------%
% Reaction femur-tibia
syms RFTAvGx RFTAvGy RFTAvGz real;
RFTAvG = [RFTAvGx; RFTAvGy; RFTAvGz];
syms RFTCeDx RFTCeDy RFTCeDz real;
RFTCeD = [RFTCeDx; RFTCeDy; RFTCeDz];
syms RFTArGx RFTArGy RFTArGz real;
RFTArG = [RFTArGx; RFTArGy; RFTArGz];
syms MFTAvGx MFTAvGy MFTAvGz real;
 
MFTAvG = [MFTAvGx; MFTAvGy; MFTAvGz];
syms MFTCeDx MFTCeDy MFTCeDz real;
MFTCeD = [MFTCeDx; MFTCeDy; MFTCeDz];
syms MFTArGx MFTArGy MFTArGz real;
MFTArG = [MFTArGx; MFTArGy; MFTArGz];
%-------------------------------%
% Reaction coxa-femur
syms RCFAvGx RCFAvGy RCFAvGz real ;
RCFAvG = [RCFAvGx; RCFAvGy; RCFAvGz];
syms RCFCeDx RCFCeDy RCFCeDz real;
RCFCeD = [RCFCeDx; RCFCeDy; RCFCeDz];
syms RCFArGx RCFArGy RCFArGz real;
RCFArG = [RCFArGx; RCFArGy; RCFArGz];
syms MCFAvGx MCFAvGy MCFAvGz real;
MCFAvG = [MCFAvGx; MCFAvGy; MCFAvGz];
syms MCFCeDx MCFCeDy MCFCeDz real;
MCFCeD = [MCFCeDx; MCFCeDy; MCFCeDz];
syms MCFArGx MCFArGy MCFArGz real;
MCFArG = [MCFArGx; MCFArGy; MCFArGz];
%-------------------------------%
% PGI
%-------------------------------%
g = 9.806E-3;
prec = [eps;eps;eps].*rand(3,1);
% Bras de levier en module des longueurs
a = [0,80,100];
b = [0,0,0];
alpha = [pi/2,0,0];
for o = 1:3
HD(:,:,o) = [a;b;alpha];
end
 
% Position des centre de masse dans les repere des membrures
oCDMcorps = [0;0;0];
%oCDMtibia = [23;0;0];
oCDMtibia = [50;0;0];
oCDMfemur = [40;0;0];
oCDMcoxa = [0;0;0];
dRtibia(:,:) = [a(3);b(3);0];
dRfemur = [a(2);b(2);0];
dRcoxa = [a(1);b(1);0];
dRcorps = [106,0,-106;45,-118,45;0,0,0];
%-------------------------------%
% PGI_hexapode
%-------------------------------%
% Position des extremite des pattes
cas =1;
if cas == 1 % Orthogonal
pos = [106,0,-106;125,-198,125;-100,-100,-100];
 
elseif cas == 2 % extreme ortho
pos = dRcorps + [0,0,0;150.71,-150.71,150.71;-70.711,-70.711,-70.711];
elseif cas == 3 % extreme total
pos = dRcorps + [106,0,-106;106.57,-150.71,106.57;-70.711,-70.711,-70.711];
end
 
%-------------------------------%
Qcorps = eye(3); % Orientation du corps
[art,Qhex,Phex] = PGI_hexapode(pos,HD,dRcorps,Qcorps);
mTibia = 47;
mFemur = 62;
mCoxa = 75;
mCorps = 580 + 413;
mtot = 6*(mTibia+mFemur+mCoxa)+mCorps
Wcoxa = Qcorps*[0;0;-mCoxa*g];
Wfemur = Qcorps*[0;0;-mFemur*g];
Wtibia = Qcorps*[0;0;-mTibia*g];
Wcorps = Qcorps*[0;0;-mCorps*g];
Wtot = Wcorps + 6*(Wcoxa+Wfemur+Wtibia);
%-------------------------------%
% Position des centre de masse dans le repere global
LBcdmCAvG = Qcorps*dRcorps(:,1);
LBcdmCCeD = Qcorps*dRcorps(:,2);
LBcdmCArG = Qcorps*dRcorps(:,3);
% Femur
LCFcdmAvG = Phex(:,:,2,1)*oCDMfemur;
LCFcdmCeD = Phex(:,:,2,2)*oCDMfemur;
LCFcdmArG = Phex(:,:,2,3)*oCDMfemur;
LFcdmTAvG = Phex(:,:,2,1)*(dRfemur-oCDMfemur);
LFcdmTCeD = Phex(:,:,2,2)*(dRfemur-oCDMfemur);
LFcdmTArG = Phex(:,:,2,3)*(dRfemur-oCDMfemur);
LFAvG = Phex(:,:,2,1)*dRfemur;
LFCeD = Phex(:,:,2,2)*dRfemur;
LFArG = Phex(:,:,2,3)*dRfemur;
% Tibia
 
LFTcdmAvG = Phex(:,:,3,1)*oCDMtibia;
LFTcdmCeD = Phex(:,:,3,2)*oCDMtibia;
LFTcdmArG = Phex(:,:,3,3)*oCDMtibia;
LTcdmNAvG = Phex(:,:,3,1)*(dRtibia-oCDMtibia);
LTcdmNCeD = Phex(:,:,3,2)*(dRtibia-oCDMtibia);
LTcdmNArG = Phex(:,:,3,3)*(dRtibia-oCDMtibia);
LTAvG = Phex(:,:,3,1)*(dRtibia);
LTCeD = Phex(:,:,3,2)*(dRtibia);
LTArG = Phex(:,:,3,3)*(dRtibia);
%-------------------------------%
% Systeme d’equation
%-------------------------------%
% Globale
%-------------------------------%
% Force sur dirrection Z seulement
NAvG(1:2) = [0;0];
NCeD(1:2) = [0;0];
NArG(1:2) = [0;0];
RBCAvG(1:2) = [0;0];
RBCCeD(1:2) = [0;0];
RBCArG(1:2) = [0;0];
RCFAvG(1:2) = [0;0];
RCFCeD(1:2) = [0;0];
RCFArG(1:2) = [0;0];
RFTAvG(1:2) = [0;0];
RFTCeD(1:2) = [0;0];
RFTArG(1:2) = [0;0];
% Moment en X et Y seulement
MBCAvG(3) = 0;
 
MBCCeD(3) = 0;
MBCArG(3) = 0;
MCFAvG(3) = 0;
MCFCeD(3) = 0;
MCFArG(3) = 0;
MFTAvG(3) = 0;
MFTCeD(3) = 0;
MFTArG(3) = 0;
% Contraintes globales
SFGLOB = (Wcorps + 6*(Wcoxa + Wfemur + Wtibia) + NAvG + NCeD + NArG);
SMGLOB = (cross(LBcdmCAvG+LFAvG+LTAvG,NAvG) + cross(LBcdmCCeD+LFCeD+LTCeD,NCeD) + cross(LBcdmCArG+LFArG+LTArG,NArG) + cross(LBcdmCAvG,Wcoxa) + cross(LBcdmCCeD,Wcoxa) + cross(LBcdmCArG,Wcoxa) + cross(LBcdmCAvG+LCFcdmAvG,Wfemur) + cross(LBcdmCCeD+LCFcdmCeD,Wfemur) + cross(LBcdmCArG+LCFcdmArG,Wfemur) + cross(LBcdmCAvG+LFAvG+LFTcdmAvG,Wtibia) + cross(LBcdmCCeD+LFCeD+LFTcdmCeD,Wtibia) + cross(LBcdmCArG+LFArG+LFTcdmArG,Wtibia));
% Resolution pour force de contact en Z
n = solve(SFGLOB(3),SMGLOB(1),SMGLOB(2));
NAvGz = eval(n.NAvGz);
NCeDz = eval(n.NCeDz);
NArGz = eval(n.NArGz);
check = NAvGz+NCeDz+NArGz;
%-------------------------------------------------------------------%
% Autres equations de contrainte interne
% Corps B
%-------------------------------%
% Somme force
SFB = RBCAvG + RBCCeD + RBCArG + Wcorps + 3*(Wcoxa + Wfemur + Wtibia) + prec;
% Somme moment (bras de levier au cdm)
SMB = (cross(LBcdmCAvG,RBCAvG) + cross(LBcdmCCeD,RBCCeD) + cross(LBcdmCArG,RBCArG) + MBCAvG + MBCCeD + MBCArG) + prec;
%-------------------------------%
% Patte
%-------------------------------%
% Coxa C
% Somme force
SFCAvG = (-RBCAvG + RCFAvG + Wcoxa) + prec;
SFCCeD = (-RBCCeD + RCFCeD + Wcoxa) + prec;
SFCArG = (-RBCArG + RCFArG + Wcoxa) + prec;
% Somme moment (bras de levier au cdm)
SMCAvG = (-MBCAvG + MCFAvG) + prec;
SMCCeD = (-MBCCeD + MCFCeD) + prec;
SMCArG = (-MBCArG + MCFArG) + prec;
%-------------------------------%
% Femur F
% Somme force
SFFAvG = (-RCFAvG + RFTAvG + Wfemur) + prec;
SFFCeD = (-RCFCeD + RFTCeD + Wfemur) + prec;
SFFArG = (-RCFArG + RFTArG + Wfemur) + prec;
% Somme moment (bras de levier au cdm)
SMFAvG = (cross(-LCFcdmAvG,-RCFAvG) + cross(LFcdmTAvG,RFTAvG) - MCFAvG + MFTAvG) + prec;
SMFCeD = (cross(-LCFcdmCeD,-RCFCeD) + cross(LFcdmTCeD,RFTCeD) - MCFCeD + MFTCeD) + prec;
SMFArG = (cross(-LCFcdmArG,-RCFArG) + cross(LFcdmTArG,RFTArG) - MCFArG + MFTArG) + prec;
%-------------------------------%
% Tibia T
% Somme force
SFTAvG = (-RFTAvG + NAvG + Wtibia) + prec;
SFTCeD = (-RFTCeD + NCeD + Wtibia) + prec;
SFTArG = (-RFTArG + NArG + Wtibia) + prec;
% Somme moments (bras de levier au cdm)
SMTAvG = (cross(-LFTcdmAvG,-RFTAvG) - MFTAvG + cross(LTcdmNAvG,NAvG))+ prec;
SMTCeD = (cross(-LFTcdmCeD,-RFTCeD) - MFTCeD + cross(LTcdmNCeD,NCeD))+ prec;
SMTArG = (cross(-LFTcdmArG,-RFTArG) - MFTArG + cross(LTcdmNArG,NArG))+ prec;
%-------------------------------%
% Resolution
%-------------------------------%
sol = solve(SFB(3),SMB(1),SMB(2),SFCAvG(3),SMCAvG(1),SMCAvG(2),SFFAvG(3),SMFAvG(1),SMFAvG(2),SFTAvG(3),SMTAvG(1),SMTAvG(2),SFCCeD(3),SMCCeD(1),SMCCeD(2),SFFCeD(3),SMFCeD(1),SMFCeD(2),SFTCeD(3),SMTCeD(1),SMTCeD(2),SFCArG(3),SMCArG(1),SMCArG(2),SFFArG(3),SMFArG(1),SMFArG(2),SFTArG(3),SMTArG(1),SMTArG(2));
NAvGz = eval(sol.NAvGz);
NCeDz = eval(sol.NCeDz);
NArGz = eval(sol.NArGz);
check = NAvGz+NCeDz+NArGz;
MBCAvGx = eval(sol.MBCArGx);
MBCCeDx = eval(sol.MBCCeDx);
MBCArGx = eval(sol.MBCAvGx);
MBCArGy = eval(sol.MBCArGy);
MBCCeDy = eval(sol.MBCCeDy);
MBCArGy = eval(sol.MBCAvGy);
MCFAvGx = eval(sol.MCFArGx);
MCFCeDx = eval(sol.MCFCeDx);
MCFArGx = eval(sol.MCFAvGx);
MCFAvGy = eval(sol.MCFArGy);
MCFCeDy = eval(sol.MCFCeDy);
MCFArGy = eval(sol.MCFAvGy);
MFTAvGx = eval(sol.MFTArGx);
MFTCeDx = eval(sol.MFTCeDx);
MFTArGx = eval(sol.MFTAvGx);
MFTAvGy = eval(sol.MFTAvGy);
MFTCeDy = eval(sol.MFTCeDy);
MFTArGy = eval(sol.MFTArGy);
RBCArGz = eval(sol.RBCArGz);
RBCCeDz = eval(sol.RBCCeDz);
RBCAvGz = eval(sol.RBCAvGz);
RCFAvGz = eval(sol.RCFAvGz);
RCFCeDz = eval(sol.RCFCeDz);
RCFArGz = eval(sol.RCFArGz);
RFTAvGz = eval(sol.RFTAvGz);
RFTCeDz = eval(sol.RFTCeDz);
RFTArGz = eval(sol.RFTArGz);
MCFAvG_patte = Phex(:,:,2,1)'*MCFAvG;
subs(MCFAvG_patte)
MCFCeD_patte = Phex(:,:,2,2)'*MCFCeD;
subs(MCFCeD_patte)
MCFArG_patte = Phex(:,:,2,3)'*MCFArG;
subs(MCFArG_patte)
%-------------------------------%
affichage = 1;
if affichage == 1
figure;
hold on;
plot3([LBcdmCAvG(1),LBcdmCCeD(1),LBcdmCArG(1),LBcdmCAvG(1)],[LBcdmCAvG(2),LBcdmCCeD(2),LBcdmCArG(2),LBcdmCAvG(2)],[LBcdmCAvG(3),LBcdmCCeD(3),LBcdmCArG(3),LBcdmCAvG(3)],'k-');
plot3([0, LBcdmCAvG(1), LBcdmCAvG(1)+LFAvG(1), LBcdmCAvG(1)+LFAvG(1)+LTAvG(1)],[0, LBcdmCAvG(2), LBcdmCAvG(2)+LFAvG(2), LBcdmCAvG(2)+LFAvG(2)+LTAvG(2)],[0, LBcdmCAvG(3), LBcdmCAvG(3)+LFAvG(3), LBcdmCAvG(3)+LFAvG(3)+LTAvG(3)],'o-b');
plot3([0, LBcdmCCeD(1), LBcdmCCeD(1)+LFCeD(1), LBcdmCCeD(1)+LFCeD(1)+LTCeD(1)],[0, LBcdmCCeD(2), LBcdmCCeD(2)+LFCeD(2), LBcdmCCeD(2)+LFCeD(2)+LTCeD(2)],[0, LBcdmCCeD(3), LBcdmCCeD(3)+LFCeD(3), LBcdmCCeD(3)+LFCeD(3)+LTCeD(3)],'o-r');
plot3([0, LBcdmCArG(1), LBcdmCArG(1)+LFArG(1), LBcdmCArG(1)+LFArG(1)+LTArG(1)],[0, LBcdmCArG(2), LBcdmCArG(2)+LFArG(2), LBcdmCArG(2)+LFArG(2)+LTArG(2)],[0, LBcdmCArG(3), LBcdmCArG(3)+LFArG(3), LBcdmCArG(3)+LFArG(3)+LTArG(3)],'o-g');
% Femur
plot3(LBcdmCAvG(1)+LCFcdmAvG(1), LBcdmCAvG(2)+LCFcdmAvG(2),LBcdmCAvG(3)+LCFcdmAvG(3),'xk');
plot3(LBcdmCCeD(1)+LCFcdmCeD(1), LBcdmCCeD(2)+LCFcdmCeD(2),LBcdmCCeD(3)+LCFcdmCeD(3),'xk');
plot3(LBcdmCArG(1)+LCFcdmArG(1), LBcdmCArG(2)+LCFcdmArG(2),LBcdmCArG(3)+LCFcdmArG(3),'xk');
% Tibia
plot3(LBcdmCAvG(1)+LFAvG(1)+LFTcdmAvG(1),LBcdmCAvG(2)+LFAvG(2)+LFTcdmAvG(2), LBcdmCAvG(3)+LFAvG(3)+LFTcdmAvG(3),'xk');
plot3(LBcdmCCeD(1)+LFCeD(1)+LFTcdmCeD(1),LBcdmCCeD(2)+LFCeD(2)+LFTcdmCeD(2),LBcdmCCeD(3)+LFCeD(3)+LFTcdmCeD(3),'xk');
plot3(LBcdmCArG(1)+LFArG(1)+LFTcdmArG(1),LBcdmCArG(2)+LFArG(2)+LFTcdmArG(2),LBcdmCArG(3)+LFArG(3)+LFTcdmArG(3),'xk');
xlabel('X'); ylabel('Y'); zlabel('Z');
axis equal;
% view(3)
view([0,0,180]);
% Affichage du cercle de contact
[cC,r] = cercle3pts(pos(1:2,:)');
t = 0:0.01:2*pi+0.01;
for o = 1:size(t,2)
x(o) = cC(1) + r*cos(t(o));
y(o) = cC(2) + r*sin(t(o));
end
plot3(x,y,ones(1,size(x,2))*pos(3,1),'c-');
plot3(cC(1),cC(2),pos(3,1),'c+');
% Affichage du cercle d’ancrage
[cA,r] = cercle3pts(dRcorps(1:2,:)');
t = 0:0.01:2*pi+0.01;
for o = 1:size(t,2)
x(o) = cA(1) + r*cos(t(o));
y(o) = cA(2) + r*sin(t(o));
end
plot3(x,y,ones(1,size(x,2))*pos(3,1),'m-');
plot3(cA(1),cA(2),pos(3,1),'m+');
distCentre = norm(cA-cC)
end

**Jerome Briot** · 30/08/2016, 17h46

En effet, le code de cette fonction n'est pas mentionné dans le mémoire

La seule solution est de contacter l'auteur pour le lui demander…

**BusMagique** · 30/08/2016, 18h33

Je ne peux pas contacter la personne car le document date de 2006

Voici la seule ligne ou il y a l'utilisation de cette variable PGI_hexapode

Code :

Sélectionner tout - Visualiser dans une fenêtre à part

[art,Qhex,Phex] = PGI_hexapode(pos,HD,dRcorps,Qcorps);

Donc je ne sais pas si c'est une variable vectorielle ....

Est-ce que tu aurais une idée pour définir cette variable ??

**Jerome Briot** · 30/08/2016, 19h53

Envoyé par BusMagique

Je ne peux pas contacter la personne car le document date de 2006

Et alors ? Je t'ai donné un lien pour le contacter. Pourquoi ne pas essayer ?

Envoyé par BusMagique

Est-ce que tu aurais une idée pour définir cette variable ??

Ce n'est pas une variable mais une fonction => FAQ : Quelle est la différence entre un script et une fonction ?

Donc pour résumer, si tu ne le contacte pas, tu ne pourras pas exploiter ce code.

**BusMagique** · 31/08/2016, 14h00

Merci de vos réponses

J'ai essayé de le joindre il y a ici un mois mais je n'ai pas eu de réponses . Auriez vous une idée , je test et je vous dis comment sa réagit car la fonction PGI-hexapode n'est que sur une ligne

Code :

Sélectionner tout - Visualiser dans une fenêtre à part

[art,Qhex,Phex] = PGI_hexapode(pos,HD,dRcorps,Qcorps);

merci d'avance

**BusMagique** · 04/09/2016, 11h39

Merci pour votre réponse ,

je comprends à peut près l'intégralité du code car en réalité ci je ne l'ai pas montré , j'ai les équations qui composent la base du code .Ce code me permettra de savoir qu'elle est le couple nécessaire pour des servomoteurs !

J'aimerais savoir Phex est une matrice de combien de ligne et colonne sachant que j'ai ça dans le code
Phex(:,:,2,1) Phex(:,:,2,2) Phex(:,:,2,3) Phex(:,:,2,3) Phex(:,:,3,1) Phex(:,:,3,2) Phex(:,:,3,3)

Phex(:,:,2,1) est l'extrait de la matrice composé de la ligne 2 et de la colonne 1 de Phex ?? soit juste un nombre (une constante ) ??

si j'ai Position du centre de masse =Phex(:,:,2,2)*Centre de masse c'est koi Phex(:,:,2,2) ??

[syms] Code avec erreur

MATLAB

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