MapleSim Questions and Posts

These are Posts and Questions associated with the product, MapleSim

Dear all

How can I solve the system of equations with unknowns  c[2] and Z

 

system_eqs.mw

 

Maybe the question can be solved by hand.

 

thanks

I have maplesim installed and I get the error "Error, `MapleSim` does not evaluate to a module" when I run A:=MapleSim:-LinkModel(); in a Maple worksheet.

Does anyone know how to solve this error?

Q1: clicking on a variable in the attached I get

What does it mean and how can I fix that when it happens?

Initialisation_diagnostics_error.msim

Q2: Why are initial conditions which are set to "Ignore" listed as "Guess"?

I intend to use the initialization diagnostics to filter a model for components that have initial conditions set. In the attached example (excerpt from a larger model), this does not work the way I want it to (i.e. I don't want P1 to be listed a guess).

Init_diagnostics_ignore_listed_as_guess.msim

Q3: The app seems to be a powerfull tool. Is it explained somewhere how to use the app to debug a model?

Hi there!

I have developed a component in Modelica to import values from a Matlab struct into MapleSim and use it with other components. This data is saved in a ".mat" file and the struct was constructed as follows:

% Matlab command window
% Struct name is "bemData" saved in a v7 format to be read in by Modelica
>> bemData.m33 = 100;
>> bemData.Ainf33 = 100;
>> bemData.Khs33 = 20000;
>> bemData.ss_rad33.A = [1 1;0 1];
>> bemData.ss_rad33.B = [1;0];
>> bemData.ss_rad33.C = [1 1];
>> bemData.ss_rad33.D = 0;
>> save -v7 bemData.mat

And the Modelica code I am using to try import this into MapleSim is as follows:

Modelica.SIunits.Mass M = scalar(Modelica.Utilities.Streams.readRealMatrix("bemData.mat","bemData.m33",1,1));

Modelica.SIunits.Mass Ainf = scalar(Modelica.Utilities.Streams.readRealMatrix("bemData.mat","bemData.Ainf33",1,1));

Modelica.SIunits.TranslationalSpringConstant C = scalar(Modelica.Utilities.Streams.readRealMatrix("bemData.mat","bemData.Khs33",1,1));
    
Real A[2,2] = Modelica.Utilities.Streams.readRealMatrix("bemData.mat","bemData.ss_rad33.A",2,2);

Real B[1,2] = transpose(Modelica.Utilities.Streams.readRealMatrix("bemData.mat","bemData.ss_rad33.B",2,1));

Real C[1,2] = Modelica.Utilities.Streams.readRealMatrix("bemData.mat","bemData.ss_rad33.C",1,2);

Real D = scalar(Modelica.Utilities.Streams.readRealMatrix("bemData.mat","bemData.ss_rad33.D",1,1));

I then use these imported variables to solve ODEs, and the result is incorrect. I have narrowed it down to the fact that MapleSim/Modelica imports a value of 0 in place of the original data in the struct. Moreover, there is no way to attach a probe to any of the imported variables in MapleSim (I need to force all model variables to be displayed in the Simulation results tab).

I would appreciate help in pointing out where I might be making a mistake. My primary concern is why a value of 0 is being imported in place of the actual Matlab struct data. When I use Matlab's command window to check the contents of the struct, they appear to be in order.

Also, I have saved the struct file in the same folder in which my custom component is stored (the Modelica file where I have written the code to import the data). Should I be saving this file elsewhere?

Thank you!

The Examples section on the help page of a command is important for learning, but cannot cover all uses. This is especially true for general purpose commands like "solve" or "simplify". Searching all help pages that contain the word "solve" results in too many irrelevant hits that do not contain examples.

Why does adding a bracket to a command not filter for help pages with examples using the command?

Inside a help page Find/Replace finds such strings.

Inverse kinematics can be done in several ways (this webinar gives a very good overview https://www.youtube.com/watch?v=X0OZ9EM6dns). A effective and simple method is to run a model in reverse direction. This can’t be done with causal modeling tools, where information flow is fixed by design (https://de.maplesoft.com/support/help/MapleSim/view.aspx?path=MapleSimUserGuide/Chapter01).

Inverse kinematics, which is possible with acausal modeling tools, is only an example for running a model in the reverse (i.e., inverted) direction.

Without success, I tried to find a reference who first came up with that elegant approach.

Anyone knows more?

I have seen that this is possible (for example in the example:  2-D Flexible Spin-up Beam).

When I copy an image to the Windows10 clipboard it does paste to other applications but not to MapleSim. Instead, I get an audio notification from the system that is played on other instances when an action cannot be performed.

Within MapleSim copy and paste works (also between models). However, copying an image from a Maplesim Model to another Windows App does not work.

Can someone confirm that pasting images works in recent verions?

(Clearing the Clipboard removes images copied with MapleSim.

Observed on 2 Windows 10 installations with the version 2022 and 2021.)

hi 

hiiiiiiiiiii

i am working and modling on brushless motor for my project but when i run that i get this error and i can not fix that could you please help me. error is :

equation generation

(}),At offset 4370 in `:-2108.m`, unexpected DAG type: 0,125

every project  i run  has the same error 

Hello, 

I build a small simple custom library in MapleSim, for some reaon MapleSim is keep giving me that a variable can't be resolved and that there is no "LibraryName" visible. 

The library loads successfully with no error though. 

exact msg:

Cannot resolve type `MyLibrary.Dh_Revolute` of variable `Main.DR1` in model `Main`; there is no `MyLibrary` visible

thanksf or your help. 

Hello everyone . I wish you all a happy new year and a great 2022.

i have a project in Maplesim and i just began working with it .

my project is about the creation of an umbrella using maple sim . I tried my best to create one of the mechanic system of the revolute system . But in an umbrella there are 8 system of a revolute , and it depends of the orientation . I don't knew how to create the other 7 system 

Can you please help me ?

Oussama

Copying and Pasting of parameters (entered data) or text in text boxes does not work on my MapleSim 2021.1 Windows10 installation.

I tired the usual keys and context menus. Cutting works.

Thats what I get back when I paste text here after cutting

<math xmlns='http://www.w3.org/1998/Math/MathML'></math>

Copy&Paste of components works.  

Is this a known issue?

The 3-D Workspace of the stuart platfrom example

https://de.maplesoft.com/products/maplesim/modelgallery/detail.aspx?id=34

displays as follows. Clicking on the central object I get

Q1: What does "Unlayed out view mean"?

Q2: What is actually displayed in the center?

Q3: Why is only one leg shown in instead of 6?

I would really appreciate more insight into the 3-D Workspace. I use it to inspect structural integrity of models and assembly errors, but I am often lost by its behavior.

Thank you!

(I have tried to work it out myself with online resources, Maples help system and MapleSim user guide.)

 

Hi

I have constructed a model of an UR5e in maplesim with the hop to be able to test my controller writen in python on it. 

I hope to be able from the model to

  • Enter a tourqvalue for the joints.
  • Extract joint angles, joint velocitys as well as the forces and tourqes that affects the end effector.
  • (If posible) visualize the sumulated robot arm so I can se that the motion reflects that of the real robot arm.

the simulated robot arm 

The question is how to best do this in a semi realtime way?

I have been looking into generating a FMU but if there are other ways to do this, then I am open to ides. 

The contorller is based on a haptic algoritm for connecting two robot arms and I will only get one robot arm due to prise and space constraints.

This means that I will reseave realtime information from the real robot arm into my python controller that then i supose to take inforamtion from the simulated arm and with information from both arms calculate the tourqe values for both arms joints. 

 

Thanks in advance for all youre help

Eric Ragnarsson

Hi

I am trying to construct a controler for a UR5e robot, I have a simulation of the robot in maplesim and have started to look for a way to use multibody analysis to provide me with the Jacobian. However it only provieds the constraint Jacobian and as I have no position constraints on the robot, it returns nothing.

I then came across 

Link: https://www.youtube.com/watch?v=d3xJge_09E0&t=374s

However it is old and does not exactly say how to do it.

So I thought I should ask this wonderful comunity if they have an recomended way to construct the Jacobian from a maplesimmodel? I am still a beginner at maplesim and maple so any help is appreciated.

 

With thanks for helping me

Eric Ragnarsson

 

Hi

I am trying to create a simulation of a UR5e, I have added a spring dampening systen in order to simulate the imput of external forces and torques. However I get a strange error for which I could not find an awnser for on the web.

The closest was 

https://www.mapleprimes.com/questions/203860-Compile-Maplesim-Model-To-Ccode

However it is quite old and not entirely a match. 

I get the following output

More information

Maplesim 2020

64 bit version

Windows 10

RAM - 16 GB

Do anybody know a solution for this?

Mvh

Eric Ragnarsson

 

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