故而為了方便講談之故，依據遵循PyDy 推薦範例

Tutorials

We have a couple of tutorials. The human standing tutorial takes you through an entire workflow for a dynamics and control problem and is a good place to start.

……

的寫法︰

pydy/pydy-tutorial-human-standing

Introduction

This is the material for a tutorial on analyzing multibody dynamics with scientific Python tools. It was first given as “Simulation and Control of Biomechanical Systems with Python” at the Midwest American Society of Biomechanics Regional meeting on March 4th, 2014 in Akron, Ohio. Modified versions have subsequently been given at PYCON2014, SCIPY2014, and SCIPY2015.

The tutorial covers these main topics:

Symbolic derivation of equations of motion for multibody systems.
Numerical simulation of the resulting system.
3D visualization of the motion of the system.
Optimal feedback control for stabilization.

The attendees will be exposed to various functionality of these Python tools:

Python
The SciPy Stack: SymPy, NumPy, SciPy, matplotlib, IPython
PyDy

License

All materials herein are licensed under Create Commons Attribution 4.0.

Versions

A new version of the tutorial is typically created each time the tutorial is given to incorporate feedback from the attendees and for software updates. These versions can be downloaded from:

https://github.com/pydy/pydy-tutorial-human-standing/releases

Example Problem

The tutorial will go through the PyDy workflow in small steps. At the end the students should have a working 3-link 2D inverted pendulum model of a human that can be used for balancing studies. The free body diagram of the model is shown below:

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開始後續旅程也！

─── 《STEM 隨筆︰古典力學︰向量【四下】》

經過了三個多月的深度旅遊，終於抵達了終點站︰

n09_control.ipynb

Introduction

In this last notebook, we will create a full state feedback controller that will allow the human model to balance. There isn’t time to give a good overview of controls, but we will use a very common optimal control method to quickly create a controller for our system.