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Hi, I am completely new to Maple, and I need to use it to optimize my equations in order to make my PLC codes more compressed. I am calculating forward kinematics with the Denavit-Hartenberg method and as such I get long expressions. After a lot of google'ing and frustration, I thought I'd ask here in the hope that one of you might be able to assist me.

I have the following equations;

X := L10*cos(q5) - L16*(sin(q10)*(sin(q5)*sin(q8) - cos(q8)*(cos(q5)*cos(q6)*cos(q7) - cos(q5)*sin(q6)*sin(q7))) - cos(q10)*(sin(q9)*(cos(q8)*sin(q5) + sin(q8)*(cos(q5)*cos(q6)*cos(q7) - cos(q5)*sin(q6)*sin(q7))) + cos(q9)*(cos(q5)*cos(q6)*sin(q7) + cos(q5)*cos(q7)*sin(q6)))) - d2*(cos(q10)*(sin(q5)*sin(q8) - cos(q8)*(cos(q5)*cos(q6)*cos(q7) - cos(q5)*sin(q6)*sin(q7))) + sin(q10)*(sin(q9)*(cos(q8)*sin(q5) + sin(q8)*(cos(q5)*cos(q6)*cos(q7) - cos(q5)*sin(q6)*sin(q7))) + cos(q9)*(cos(q5)*cos(q6)*sin(q7) + cos(q5)*cos(q7)*sin(q6)))) + L15*(sin(q9)*(cos(q8)*sin(q5) + sin(q8)*(cos(q5)*cos(q6)*cos(q7) - cos(q5)*sin(q6)*sin(q7))) + cos(q9)*(cos(q5)*cos(q6)*sin(q7) + cos(q5)*cos(q7)*sin(q6))) - L11*cos(q5)*sin(q6) + d1*cos(q5)*cos(q6) - L13*sin(q5)*sin(q8) + L14*cos(q9)*(cos(q8)*sin(q5) + sin(q8)*(cos(q5)*cos(q6)*cos(q7) - cos(q5)*sin(q6)*sin(q7))) + L13*cos(q8)*(cos(q5)*cos(q6)*cos(q7) - cos(q5)*sin(q6)*sin(q7)) - L14*sin(q9)*(cos(q5)*cos(q6)*sin(q7) + cos(q5)*cos(q7)*sin(q6)) + L12*cos(q5)*cos(q6)*cos(q7) - L12*cos(q5)*sin(q6)*sin(q7);

Y := L10*sin(q5) - L9 + L16*(sin(q10)*(cos(q5)*sin(q8) - cos(q8)*(sin(q5)*sin(q6)*sin(q7) - cos(q6)*cos(q7)*sin(q5))) - cos(q10)*(sin(q9)*(cos(q5)*cos(q8) + sin(q8)*(sin(q5)*sin(q6)*sin(q7) - cos(q6)*cos(q7)*sin(q5))) - cos(q9)*(cos(q6)*sin(q5)*sin(q7) + cos(q7)*sin(q5)*sin(q6)))) + d2*(cos(q10)*(cos(q5)*sin(q8) - cos(q8)*(sin(q5)*sin(q6)*sin(q7) - cos(q6)*cos(q7)*sin(q5))) + sin(q10)*(sin(q9)*(cos(q5)*cos(q8) + sin(q8)*(sin(q5)*sin(q6)*sin(q7) - cos(q6)*cos(q7)*sin(q5))) - cos(q9)*(cos(q6)*sin(q5)*sin(q7) + cos(q7)*sin(q5)*sin(q6)))) - L15*(sin(q9)*(cos(q5)*cos(q8) + sin(q8)*(sin(q5)*sin(q6)*sin(q7) - cos(q6)*cos(q7)*sin(q5))) - cos(q9)*(cos(q6)*sin(q5)*sin(q7) + cos(q7)*sin(q5)*sin(q6))) + L13*cos(q5)*sin(q8) - L11*sin(q5)*sin(q6) + d1*cos(q6)*sin(q5) - L14*cos(q9)*(cos(q5)*cos(q8) + sin(q8)*(sin(q5)*sin(q6)*sin(q7) - cos(q6)*cos(q7)*sin(q5))) - L13*cos(q8)*(sin(q5)*sin(q6)*sin(q7) - cos(q6)*cos(q7)*sin(q5)) - L14*sin(q9)*(cos(q6)*sin(q5)*sin(q7) + cos(q7)*sin(q5)*sin(q6)) + L12*cos(q6)*cos(q7)*sin(q5) - L12*sin(q5)*sin(q6)*sin(q7);

Z := L15*(cos(q9)*(cos(q6)*cos(q7) - sin(q6)*sin(q7)) - sin(q8)*sin(q9)*(cos(q6)*sin(q7) + cos(q7)*sin(q6))) - L11*cos(q6) - L8 - d1*sin(q6) + L16*(cos(q10)*(cos(q9)*(cos(q6)*cos(q7) - sin(q6)*sin(q7)) - sin(q8)*sin(q9)*(cos(q6)*sin(q7) + cos(q7)*sin(q6))) - cos(q8)*sin(q10)*(cos(q6)*sin(q7) + cos(q7)*sin(q6))) - d2*(sin(q10)*(cos(q9)*(cos(q6)*cos(q7) - sin(q6)*sin(q7)) - sin(q8)*sin(q9)*(cos(q6)*sin(q7) + cos(q7)*sin(q6))) + cos(q8)*cos(q10)*(cos(q6)*sin(q7) + cos(q7)*sin(q6))) - L13*cos(q8)*(cos(q6)*sin(q7) + cos(q7)*sin(q6)) - L14*sin(q9)*(cos(q6)*cos(q7) - sin(q6)*sin(q7)) - L12*cos(q6)*sin(q7) - L12*cos(q7)*sin(q6) - L14*cos(q9)*sin(q8)*(cos(q6)*sin(q7) + cos(q7)*sin(q6));

 

I need to optimize these equations, but still keep them separate. I would like to use mutual expressions for the calculations within, but still as I said keep the outputs of X, Y and Z separate.

This is MATLAB code.

 

Thanks in advance for any help.

Hi,

 

I am new to Maple and have a problem when solving three equations with three variables. But when  I plug in into solve function then it gives no answer.

eqn1 := 24900 = A*exp(-X*1.293995859*10^22)+A*exp(-Y*1.293995859*10^22)+5852.27;

eqn2 := 6000 = A*exp(-X*1.293995859*10^22)+2422.929937;

eqn3 := 19100 = A*exp(-Y*1.293995859*10^22)+8275.199937;

Variables are [A,X,Y]

Hi!

I want to select 'Export using shapes for greater fidelity' under option, Export. But I can't find the tab ' Export to PDF-Format'. I'm using Maple 18 on a Mac-computer. 

Can anyone help?

Thanks

 

Esben 

For example, given a 3d point p(x,y,z), with (x,y,z) as its coordinates. Then it is transformed by rotation and translation, as 

p'=R(p)*p+t(p), where R(p) is a 3x3 rotation matrix that is a matrix of functions of p, and t(p) is a 3x1 vector function of p. 

My question is how to derive dp'/d(as a 3x3 matrix) using maple? 

To make it clear,I want to do it in a way that dp'/dp = ∂p'/∂p + ∂p'/∂R*∂R/∂p +  ∂p'/∂t*∂t/∂p

And I'd like to know each intermediate quantity, such as p'/∂R, R/∂p.


Anyone can help?

Thanks a lot. 

Using Maple 18, I solved for minimum and maximum price. Instead of using fsolve I wanna use procedure programming structure in order to get the same results. How can I do it?

min_sol := fsolve([bc_cond, slope_cond, x[G, 1] = w[aggr, 1]], {p = 0 .. 1, x[G, 1] = 0 .. w[aggr, 1], x[G, 2] = 0 .. w[aggr, 2]}); p_min := subs(min_sol, p); max_sol := fsolve([bc_cond, slope_cond, x[G, 2] = w[aggr, 2]], {p = 0 .. 1, x[G, 1] = 0 .. w[aggr, 1], x[G, 2] = 0 .. w[aggr, 2]}); p_max := subs(max_sol, p);
{p = 0.3857139820, x[G, 1] = 127.8000000, x[G, 2] = 38.99045418}
0.3857139820
{p = 0.8841007104, x[G, 1] = 44.30160890, x[G, 2] = 164.2000000}
0.8841007104

Is there a command in maple that shows which files were read during start up? I am confused as to which maple init file is being read on my PC.  From http://www.maplesoft.com/support/help/Maple/view.aspx?path=worksheet/reference/initialization

it says

"Under Windows, the initialization file is called maple.ini.
If <Maple>\lib\maple.ini exists, it is loaded first (where <Maple> is your Maple installation directory). With a  network installation of Maple, the commands in this initialization file will be executed by all users on the network.
To execute a user's personal set of commands, only the first initialization file in one of the following paths will be loaded.
1) The binary directory of your current working directory (for example, "c:\Program_Files\Maple\bin.win\maple.ini")
2) The <Maple>\Users directory (for example, "c:\Program_Files\Maple\Users\maple.ini")
3) The user's personal profile directory (multiuser only) (for example, "c:\Documents_and_Settings\userid\maple.ini")
      
Maple reads and executes the network initialization file before the personal initialization file."

How do I find out, from inside Maple, which file(s) were read? Or make maple shows a trace of the loading process to see what files ini files it is reading?

Maple 18.2 on windows. btw, the above help page seems old. I am on windows 7, and I do not have "c:\Program_Files\Maple\" folder. And do not have "c:\Documents_and_Settings" folder. So the above help is not very useful. May be it was written during windows 95 times?

A rigid rotating body is a moving mass, so that kinetic energy can have expressed in terms of the angular speed of the object and a new quantity called moment of inertia, which depends on the mass of the body and how it is such distributed mass. Now we'll see with maple.

 

Momento_de_Inercia.mw

(in spanish)

Atte.

L. Araujo C.

In this section, we will consider several linear dynamical systems in which each mathematical model is a differential equation of second order with constant coefficients with initial conditions specifi ed in a time that we take as t = t0.

All in maple.

 

Vibraciones.mw

(in spanish)

 

Atte.

L.AraujoC.

Compared to Maple on Windows, how do ppl like Maple on Macs ?

Any comments ??

 

Thanks, cheers !

(

OK, what am I doing wrong here?

This polynomial can be factored by almost anyone who knows algebra:

factor(x^2+y^2+2*xy);

but Maple refuses:

 x2  + y2  + 2 xy

but if I pose the question this way:

ans := expand((x+y)^2);

factor(ans);

(x + y)2

I get the expected result.  What is wrong with how I am using the factor?

Hi,

I am new to maple. I want to write the following codes in Maple in a file and execute it. I am writing the code in matlab. thanks

 

for i =1:1:5

for j=1:1:5

M(i,j)=i+j;

end

end

 

thanks

The equations of motion for a rigid body can be obtained from the principles governing the motion of a particle system. Now we will solve with Maple.

 

Dinamica_plana_de_cuerpos_rigidos.mw

(in spanish)

Atte.

Lenin Araujo Castillo

Corrección ejercico 4

 

4.- Cada una de las barras mostradas tiene una longitud de 1 m y una masa de 2 kg. Ambas giran en el plano horizontal. La barra AB gira con una velocidad angular constante de 4 rad/s en sentido contrario al de las manecillas del reloj. En el instante mostrado, la barra BC gira a 6 rad/s en sentido contrario al de las manecillas del reloj. ¿Cuál es la aceleración angular de la barra BC?

Solución:

restart; with(VectorCalculus)

NULL

NULL

m := 2

L := 1

theta := (1/4)*Pi

a[G] = x*alpha[BC]*r[G/B]-omega[BC]^2*r[G/B]+a[B]NULL

NULL

a[B] = x*alpha[AB]*r[B/A]-omega[AB]^2*r[B/A]+a[A]

NULL

aA := `<,>`(0, 0, 0)

`&alpha;AB` := `<,>`(0, 0, 0)

rBrA := `<,>`(1, 0, 0)

`&omega;AB` := `<,>`(0, 0, 4)

aB := aA+`&x`(`&alpha;AB`, rBrA)-4^2*rBrA

Vector[column](%id = 4411990810)

(1)

`&alpha;BC` := `<,>`(0, 0, `&alpha;bc`)

rGrB := `<,>`(.5*cos((1/4)*Pi), -.5*sin((1/4)*Pi), 0)

aG := evalf(aB+`&x`(`&alpha;BC`, rGrB)-6^2*rGrB, 5)

Vector[column](%id = 4412052178)

(2)

usando "(&sum;)M[G]=r[BC] x F[xy]"

rBC := `<,>`(.5*cos((1/4)*Pi), -.5*sin((1/4)*Pi), 0)

Fxy := `<,>`(Fx, -Fy, 0)

NULL

`&x`(rBC, Fxy) = (1/12*2)*1^2*`&alpha;bc`

(.2500000000*sqrt(2)*(-.70710*`&alpha;bc`-25.456)+(.2500000000*(57.456-.70710*`&alpha;bc`))*sqrt(2))*e[z] = (1/6)*`&alpha;bc`

(3)

 

"(&sum;)Fx:-Fx=m*ax"           y             "(&sum;)Fy:Fy=m*ay"

ax := -28.728+.35355*`&alpha;bc`

-28.728+.35355*`&alpha;bc`

(4)

ay := .35355*`&alpha;bc`+12.728

.35355*`&alpha;bc`+12.728

(5)

Fx := -2*ax

57.456-.70710*`&alpha;bc`

(6)

Fy := 2*ay

.70710*`&alpha;bc`+25.456

(7)

`&x`(rBC, Fxy) = (1/12*2)*1^2*`&alpha;bc`

(.2500000000*sqrt(2)*(-.70710*`&alpha;bc`-25.456)+(.2500000000*(57.456-.70710*`&alpha;bc`))*sqrt(2))*e[z] = (1/6)*`&alpha;bc`

(8)

.2500000000*sqrt(2)*(-.70710*`&alpha;bc`-25.456)+(.2500000000*(57.456-.70710*`&alpha;bc`))*sqrt(2) = (1/6)*`&alpha;bc`

.2500000000*2^(1/2)*(-.70710*`&alpha;bc`-25.456)+(14.36400000-.1767750000*`&alpha;bc`)*2^(1/2) = (1/6)*`&alpha;bc`

(9)

"(->)"

[[`&alpha;bc` = 16.97068481]]

(10)

NULL

 

Download ejercicio4.mw

Matlab seems to be pretty strong at doing color plots with separate color bars, e.g.

Is this also possible in Maple and somehow in combination with `plots[surfdata](...,color=zhue,...)`?

I have a nice family of functions of the form:

W:=(p,n,mu,w)->sum(w[k] * (n-k)* mu(n-k),k=1..n)

which can be evaluated for different p's using the operator mu*diff(...,mu)

The recursion begins with p=0 and proceeds using mu*diff(W(p,n,mu,w),mu) = W(p+1,n,mu,w).

Can anybody implement this procedure in Maple

Thank you 

The precise definition is that the distance between any two points of the rigid body remains constant. Although any body is deformed to move, if the deformation is small movement can be approximated by modeling it as a rigid body. Now let's see how Maple is part of the solution.

Cinematica_plana_de_cuerpos_rigidos.mw

(in spanish)

Atte.

Lenin Araujo C.

 

 

 

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