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SOURCE/RP_2015_Rozenheck.tex

@@ -152,6 +152,21 @@ lalu kombinasi persamaan tersebut diperoleh state- space close loop
 \subsection{Implementasi}
 
 Pada seksi implementasi ini akan dibahas mengenai code yang digunakan
-untuk mensimulasi persamaan yang diciptakan oleh peneliti.
+untuk menyimulasi persamaan yang diciptakan oleh peneliti.
+\begin{figure}
+  \centering
+  \includegraphics[scale=.5]{./IMG/SIM_FIG1.png}
+  \includegraphics[scale=.5]{./IMG/SIM_FIG2.png}
+  \caption{Hasil Membuat Ulang Simulasi}
+  \label{sim_fig1}
+\end{figure}
+Dapat diperhatikan hasil simulasi yang dibuat ulang oleh penulis pada
+gambar(\ref{sim_fig1}). Pada gambar tersebut $vref$ diberikan pada robot 1
+dengan kecepatan vector $[-5;\ 5]$. Akan tetapi ada sebuah error apabila $vref$
+dengan kecepatan vector $[5;\, 5]$. Ini diakibatkan ada masalah pada rigiditas
+graph.
 
+\section{Kesimpulan}
+Implementasi berhasil. Penelitian mengalami kekurangan apabila vref diberikan
+pada robot yang berpotensi menghasilkan lipatan pada graph.
 \end{document}

SOURCE/SM_2015_Rozenheck.m

@@ -25,12 +25,20 @@ d = 3;
 %% figure(1)
 [R,K] = rigidityMatrixFnc(conRobot);
 vref = [-5; 5];
-B = [1 0;0 1; 0 0;0 0; 0 0;0 0; 0 0; 0 0; 0 0; 0 0; 0 0; 0 0;];
+B = [
+     1 0; 0 1;
+     0 0; 0 0;
+     0 0; 0 0;
+     0 0; 0 0;
+     0 0; 0 0;
+     0 0; 0 0;
+    ];
 kp = 2;
 ki = 3;
 
 sInit = [corRobot; zeros(size(R(corRobot,K),1),1)];
-tspan = linspace(1,30);
+%% tspan = linspace(1,0.1,30);
+tspan = 1:0.01:5;
 dydt = @(t, y) systm_robot(t, y,d, R,K, kp, ki, B, vref);
 
 [t,y] = ode45(dydt, tspan, sInit);
@@ -41,8 +49,9 @@ for i = 1:length(corRobot)-1
 endfor
 str_tmp = strcat(str_tmp,sprintf("y'(%i,:));",i+1));
 eval(str_tmp);
+
 hold on
-str_tmp = " plot_rb = @(t) plot( [";
+str_tmp = "@(t) plot( [";
 for i = 1:2:length(corRobot)
   str_tmp = strcat( str_tmp, sprintf("y'(%i,t), ",i));
 endfor
@@ -51,37 +60,21 @@ for i = 2:2:length(corRobot)
   str_tmp = strcat( str_tmp, sprintf("y'(%i,t), ",i));
 endfor
 str_tmp = strcat( str_tmp, sprintf("], \"^\");"));
-eval(str_tmp)
+plot_rb = eval(str_tmp);
 
 xrb = 1:2:length(corRobot);
 yrb = 2:2:length(corRobot);
-t = 1;
-plot_rb(t);
-for i = 1:length(conRobot)
-  plot([y'(xrb(conRobot(i, 1)),t), y'(xrb(conRobot(i, 2)),t)],
-       [y'(yrb(conRobot(i,1)),t), y'(yrb(conRobot(i,2)),t)], "r" )
-endfor
-t = 20;
-plot_rb(t);
-for i = 1:length(conRobot)
-  plot([y'(xrb(conRobot(i, 1)),t), y'(xrb(conRobot(i, 2)),t)],
-       [y'(yrb(conRobot(i,1)),t), y'(yrb(conRobot(i,2)),t)], "r" )
-endfor
 
-t = 40;
+function plot_con (pltRb, yOut, conIn,xm,ym, time)
-plot_rb(t);
+  pltRb(time);
-for i = 1:length(conRobot)
+  for i = 1:length(conIn)
-  plot([y'(xrb(conRobot(i, 1)),t), y'(xrb(conRobot(i, 2)),t)],
+    plot([yOut(xm(conIn(i, 1)),time), yOut(xm(conIn(i, 2)),time)],
-       [y'(yrb(conRobot(i,1)),t), y'(yrb(conRobot(i,2)),t)], "r" )
+         [yOut(ym(conIn(i,1)),time), yOut(ym(conIn(i,2)),time)], "r" )
-endfor
+  endfor
-
+endfunction
-t = 80;
-plot_rb(t);
-for i = 1:length(conRobot)
-  plot([y'(xrb(conRobot(i, 1)),t), y'(xrb(conRobot(i, 2)),t)],
-       [y'(yrb(conRobot(i,1)),t), y'(yrb(conRobot(i,2)),t)], "r" )
-endfor
 
+plot_con(plot_rb, y', conRobot, xrb, yrb, 1);
+plot_con(plot_rb, y', conRobot, xrb, yrb, length(tspan));
 
 %% plot_rb(20);
 %% plot_rb(40);

SOURCE/genPlotFncDotRobot.m

@@ -0,0 +1,15 @@
+function fPlot = genPlotFncDotRobot(corRobot)
+
+  str_tmp = " fPlot = @(t) plot( [";
+  for i = 1:2:length(corRobot)
+    str_tmp = strcat( str_tmp, sprintf("y'(%i,t), ",i));
+  endfor
+  str_tmp = strcat( str_tmp, sprintf("], ["));
+  for i = 2:2:length(corRobot)
+    str_tmp = strcat( str_tmp, sprintf("y'(%i,t), ",i));
+  endfor
+  str_tmp = strcat( str_tmp, sprintf("], \"^\");"));
+  eval(str_tmp)
+
+endfunction
+