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Ansvar: Magnus Antonsen

Beskrivelse: For å utlede korrekte matematiske modeller for kabel-roboten vår brukte vi Python med matplotlib for å visualisere utregningene våre. Det første og viktigste å passe på er at kabelene ikke ryker og at motorene er synkrone i bevegelsene sine, ikke leddvis, men fysisk. Dette regnet vi ut ved hjelp av the law of cosine og Python.


Ved å bruke the law of cosine finner vi vinkel C.

a = Length between endpoints
b = Motor -> endpos
c = Motor -> startPos






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Movement type: Diagonal (0,0,0) → (148,110,100)

The image on the left shows the motor speed of each motor from zero which is no movement, to 1 being max movement. As the image shows motor 1 and motor 7 has max speed at all times. This is obvious because the end effector starts at 0,0,0 where motor 1 is, and ends at 148,110,100 where motor 7 is.

The image on the right shows more detailed for each motor seperatly, and the colors show motors diagonal of each other. Motor 1 is across motor 7 diagonally, and they move at the same speed.