7.4 KiB
7.4 KiB
| t | q | dq | ddq | u |
| 0 | 0 | 0 | 0 | 0 |
| 0.1 | 0.00112730370377742 | 0.0336536743050961 | 0.657669343872878 | 0.794677323180245 |
| 0.2 | 0.00883130084628362 | 0.130095105060834 | 1.23031152735571 | 1.5576733692346 |
| 0.3 | 0.0288384132623469 | 0.277086967848714 | 1.6472957578342 | 2.25856989358014 |
| 0.4 | 0.0653184832567522 | 0.456177260208145 | 1.85826392239339 | 2.86942436359809 |
| 0.5 | 0.120381192475091 | 0.64441963262565 | 1.82183441394098 | 3.36588393923159 |
| 0.6 | 0.19366224583284 | 0.816729955124557 | 1.5387129073771 | 3.72815634386891 |
| 0.7 | 0.28233042826436 | 0.947731422726794 | 1.01198704123085 | 3.94179891995384 |
| 0.8 | 0.381118481108189 | 1.01514724688817 | 0.281130829714293 | 3.99829441216602 |
| 0.9 | 0.48271784224916 | 1.00127150126433 | -0.606890939324855 | 3.89539052351278 |
| 1 | 0.578248293996883 | 0.894322024572221 | -1.54403616041735 | 3.63718970730273 |
| 1.1 | 0.658338384140432 | 0.691502504394097 | -2.46777849195839 | 3.23398561527836 |
| 1.2 | 0.713750689364397 | 0.398398200996943 | -3.35626893527373 | 2.7018527222046 |
| 1.3 | 0.735600305235625 | 0.0284599263544737 | -4.00825914367234 | 2.06200548728586 |
| 1.4 | 0.71736732967013 | -0.396782279453475 | -4.38489881755735 | 1.33995260062362 |
| 1.5 | 0.655285365929061 | -0.849118356836855 | -4.531083639236 | 0.564480032239469 |
| 1.6 | 0.547892565795632 | -1.29622623806606 | -4.3244857319699 | -0.23349657371032 |
| 1.7 | 0.397254908342504 | -1.70407791327366 | -3.73168898607231 | -1.02216440810733 |
| 1.8 | 0.209300361028653 | -2.04006080855522 | -2.86613213766537 | -1.77008177317941 |
| 1.9 | -0.00731550766185135 | -2.27387198043844 | -1.72922293231809 | -2.44743156377088 |
| 2 | -0.241223605675537 | -2.38106324008954 | -0.381252753564326 | -3.02720998123171 |
| 2.1 | -0.478944231224866 | -2.34680237646659 | 1.08356113140267 | -3.48630308965435 |
| 2.2 | -0.705829245460168 | -2.16426570569947 | 2.58237734005865 | -3.80640829555806 |
| 2.3 | -0.906890486294884 | -1.83629821096442 | 3.93455844050654 | -3.97476401453386 |
| 2.4 | -1.06860614272453 | -1.37787653165824 | 5.11374520668299 | -3.98465843534336 |
| 2.5 | -1.17918434708735 | -0.81284329382283 | 6.09389607575295 | -3.83569709865255 |
| 2.6 | -1.22882359069265 | -0.17295878351365 | 6.62469772469187 | -3.53381862288061 |
| 2.7 | -1.21221585705102 | 0.503754630673891 | 6.74037610639779 | -3.09105795022395 |
| 2.8 | -1.12820436234541 | 1.17582411838087 | 6.533191358181 | -2.52506655148928 |
| 2.9 | -0.978860954057995 | 1.79981035847128 | 5.85182622072886 | -1.85840871765503 |
| 3 | -0.770999283563291 | 2.33562906493079 | 4.75245091059759 | -1.1176619927957 |
| 3.1 | -0.515613103962611 | 2.74891875894459 | 3.39005668287868 | -0.332357611269986 |
| 3.2 | -0.226326357533143 | 3.01046279160286 | 1.78219595985548 | 0.466196819401975 |
| 3.3 | 0.0807823484948785 | 3.10169417161173 | 0.0444195098736388 | 1.24616545405351 |
| 3.4 | 0.388335249621637 | 3.01614941528424 | -1.75393602905129 | 1.97645340455444 |
| 3.5 | 0.678348790457882 | 2.7560797824945 | -3.43408611860293 | 2.62794639487516 |
| 3.6 | 0.934021470108098 | 2.33567935225527 | -4.86907935984763 | 3.17467145539661 |
| 3.7 | 1.14100335615984 | 1.78100950577136 | -6.08628991994047 | 3.59483238324651 |
| 3.8 | 1.28712234301217 | 1.12495585256584 | -6.94253943286844 | 3.87167868812595 |
| 3.9 | 1.36381593553582 | 0.406902302885183 | -7.28297214851448 | 3.99417338149842 |
| 4 | 1.36767980657433 | -0.330174021755641 | -7.26531793532952 | 3.95743298649353 |
| 4.1 | 1.29889049825954 | -1.04224588166547 | -6.8546938160307 | 3.76292222671909 |
| 4.2 | 1.16155425178444 | -1.68650054567169 | -5.94967344220412 | 3.41839563235312 |
| 4.3 | 0.964721270887307 | -2.22697247599071 | -4.74230088590455 | 2.93758839149645 |
| 4.4 | 0.720465281131124 | -2.63413817732492 | -3.30905701113038 | 2.33966877156705 |
| 4.5 | 0.443118721263638 | -2.88581866922071 | -1.7019965436784 | 1.64847394096703 |
| 4.6 | 0.148752195959367 | -2.9721968288911 | -0.0363712415656969 | 0.891559656400984 |
| 4.7 | -0.145978041760561 | -2.89314281403451 | 1.60780240616761 | 0.0991017018134311 |
| 4.8 | -0.424630255418812 | -2.6573248762253 | 3.05425204912372 | -0.697307124891926 |
| 4.9 | -0.672739948585826 | -2.28475882540464 | 4.28045566687232 | -1.46591651700771 |
| 5 | -0.878045085084117 | -1.80273599561743 | 5.25923148399143 | -2.17608444355748 |
| 5.1 | -1.03075790674249 | -1.24353668430421 | 5.82481140361651 | -2.79949875037417 |
| 5.2 | -1.12522261436471 | -0.643004409169855 | 6.04748257510137 | -3.31130587634261 |
| 5.3 | -1.1592124962359 | -0.0379409362849684 | 5.93663216000357 | -3.69110168645123 |
| 5.4 | -1.13383605650707 | 0.536222156936191 | 5.44971725872656 | -3.92374492026596 |
| 5.5 | -1.05396244419096 | 1.0488134681975 | 4.70608941857451 | -3.99996082620281 |
| 5.6 | -0.927027937689114 | 1.47376030771876 | 3.73555922576492 | -3.91671091660527 |
| 5.7 | -0.762737838929616 | 1.79264354239405 | 2.61355404944852 | -3.6773141026587 |
| 5.8 | -0.572312199675633 | 1.99548574983561 | 1.42458709467841 | -3.29131437987484 |
| 5.9 | -0.367640689474866 | 2.07886112031207 | 0.262305797895423 | -2.77410033910849 |
| 6 | -0.160346121295144 | 2.04848897718534 | -0.810850096629428 | -2.14629167200174 |
| 6.1 | 0.0388399459182828 | 1.91690138358474 | -1.77355404228442 | -1.43291712894731 |
| 6.2 | 0.220290472708866 | 1.70086688471167 | -2.4993835921759 | -0.662416701793245 |
| 6.3 | 0.37674716357769 | 1.42178996137362 | -2.98924153660423 | 0.134492188884547 |
| 6.4 | 0.503311439080471 | 1.10348685128045 | -3.29015849694185 | 0.926039300406156 |
| 6.5 | 0.596974129613834 | 0.769202496718443 | -3.33640210419521 | 1.68066814730656 |
| 6.6 | 0.657272799105245 | 0.440521180295969 | -3.17264695963287 | 2.36829405882889 |
| 6.7 | 0.685844999000327 | 0.135894667251947 | -2.86638329348033 | 2.96150355980979 |
| 6.8 | 0.685753365960606 | -0.130056648987914 | -2.4258467093915 | 3.43664725942598 |
| 6.9 | 0.66140326582697 | -0.348319746055368 | -1.92261772520869 | 3.77478267777642 |
| 7 | 0.617826988441247 | -0.514598278935145 | -1.40501807933374 | 3.96242942277948 |
| 7.1 | 0.560200530262187 | -0.629615801215412 | -0.916072884584751 | 3.99210661086545 |
| 7.2 | 0.493413343237279 | -0.69879973855337 | -0.492918132824716 | 3.86263110619711 |
| 7.3 | 0.421696974884124 | -0.730300222058687 | -0.171396746594032 | 3.57916468856202 |
| 7.4 | 0.348266639065028 | -0.734788651043527 | 0.0391562230663889 | 3.15300826950127 |
| 7.5 | 0.275227865476597 | -0.723747007930665 | 0.146209239141237 | 2.60115136062847 |
| 7.6 | 0.203651184279578 | -0.707781762836823 | 0.149580300874402 | 1.9455947554152 |
| 7.7 | 0.133570306091302 | -0.695777792179926 | 0.0729875409504199 | 1.21247342698282 |
| 7.8 | 0.0642193033125314 | -0.693970566176326 | -0.0528266102662545 | 0.431014609197776 |
| 7.9 | -0.00565996556890208 | -0.705189843622758 | -0.176774620509094 | -0.367627400910727 |
| 8 | -0.0773069806554265 | -0.728754337147554 | -0.272236743211374 | -1.15161326666026 |
| 8.1 | -0.151676363174065 | -0.760025340521132 | -0.320431798418802 | -1.88968794559386 |
| 8.2 | -0.229250063676891 | -0.791068874381492 | -0.26944342019663 | -2.55242672939179 |
| 8.3 | -0.309518198381683 | -0.812020729944363 | -0.116985223730676 | -3.11340831413719 |
| 8.4 | -0.390956185323783 | -0.811937896451692 | 0.150000908551928 | -3.55026813432602 |
| 8.5 | -0.470894163180363 | -0.780014211551689 | 0.506511756278782 | -3.84558996751823 |
| 8.6 | -0.545767023474155 | -0.706877423058831 | 0.987756481582302 | -3.98760026416638 |
| 8.7 | -0.610762318952124 | -0.584754897081681 | 1.49232424767703 | -3.97063752188253 |
| 8.8 | -0.660834371953323 | -0.410270182511013 | 1.99274911516525 | -3.7953779916725 |
| 8.9 | -0.690978933802869 | -0.185167021665459 | 2.4515939666655 | -3.46880871794233 |
| 9 | -0.69660755598576 | 0.0846502421423621 | 2.89889571627953 | -3.0039489870867 |
| 9.1 | -0.673247221005856 | 0.38886209853353 | 3.18600736796181 | -2.41933128962514 |
| 9.2 | -0.618026812346334 | 0.712716882427263 | 3.24837904850636 | -1.73826248828759 |
| 9.3 | -0.530322613201749 | 1.03769639917485 | 3.14927230108912 | -0.987894646946484 |
| 9.4 | -0.411125691046272 | 1.34339406863417 | 2.88048334532758 | -0.19814256351347 |
| 9.5 | -0.263123935437519 | 1.60779762342013 | 2.3619797807729 | 0.599508838651809 |
| 9.6 | -0.0915023820210375 | 1.81056496541802 | 1.637461432577 | 1.37325971527958 |
| 9.7 | 0.0964937857212142 | 1.93408194004453 | 0.767273551172426 | 2.09226306063079 |
| 9.8 | 0.29216268897519 | 1.96313670409293 | -0.221801959469345 | 2.72785448027254 |
| 9.9 | 0.485613572634473 | 1.88840380409875 | -1.27624885849323 | 3.25469495002842 |
| 10 | 0.666301967708823 | 1.707692915511 | 0 | 3.65178100291051 |