15 KiB
15 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 | 5.25923148399132 | -2.17608444355748 |
| 5.1 | -1.0307579067425 | -1.24353668430421 | 5.82481140361667 | -2.79949875037417 |
| 5.2 | -1.12522261436471 | -0.64300440916985 | 6.04748257510137 | -3.31130587634261 |
| 5.3 | -1.1592124962359 | -0.0379409362849631 | 5.93663216000362 | -3.69110168645123 |
| 5.4 | -1.13383605650707 | 0.536222156936198 | 5.4497172587264 | -3.92374492026597 |
| 5.5 | -1.05396244419096 | 1.0488134681975 | 4.70608941857471 | -3.99996082620281 |
| 5.6 | -0.927027937689112 | 1.47376030771876 | 3.73555922576465 | -3.91671091660527 |
| 5.7 | -0.762737838929616 | 1.79264354239405 | 2.61355404944882 | -3.6773141026587 |
| 5.8 | -0.572312199675631 | 1.99548574983561 | 1.42458709467826 | -3.29131437987483 |
| 5.9 | -0.367640689474864 | 2.07886112031207 | 0.262305797895213 | -2.77410033910849 |
| 6 | -0.160346121295144 | 2.04848897718534 | -0.810850096629073 | -2.14629167200174 |
| 6.1 | 0.0388399459182844 | 1.91690138358474 | -1.7735540422846 | -1.43291712894731 |
| 6.2 | 0.220290472708867 | 1.70086688471167 | -2.49938359217591 | -0.662416701793238 |
| 6.3 | 0.376747163577691 | 1.42178996137362 | -2.98924153660433 | 0.134492188884554 |
| 6.4 | 0.503311439080471 | 1.10348685128045 | -3.29015849694172 | 0.926039300406156 |
| 6.5 | 0.596974129613834 | 0.769202496718443 | -3.33640210419518 | 1.68066814730656 |
| 6.6 | 0.657272799105245 | 0.440521180295967 | -3.17264695963293 | 2.3682940588289 |
| 6.7 | 0.685844999000327 | 0.135894667251945 | -2.86638329348033 | 2.96150355980979 |
| 6.8 | 0.685753365960606 | -0.130056648987916 | -2.42584670939147 | 3.43664725942599 |
| 6.9 | 0.66140326582697 | -0.348319746055368 | -1.9226177252087 | 3.77478267777642 |
| 7 | 0.617826988441247 | -0.514598278935145 | -1.4050180793338 | 3.96242942277948 |
| 7.1 | 0.560200530262186 | -0.629615801215413 | -0.916072884584706 | 3.99210661086545 |
| 7.2 | 0.493413343237278 | -0.698799738553371 | -0.492918132824704 | 3.86263110619711 |
| 7.3 | 0.421696974884123 | -0.730300222058687 | -0.171396746593982 | 3.57916468856201 |
| 7.4 | 0.348266639065028 | -0.734788651043527 | 0.0391562230663334 | 3.15300826950127 |
| 7.5 | 0.275227865476597 | -0.723747007930665 | 0.146209239141171 | 2.60115136062847 |
| 7.6 | 0.203651184279577 | -0.707781762836823 | 0.149580300874469 | 1.94559475541519 |
| 7.7 | 0.133570306091302 | -0.695777792179925 | 0.0729875409504171 | 1.21247342698281 |
| 7.8 | 0.0642193033125308 | -0.693970566176327 | -0.0528266102661962 | 0.431014609197769 |
| 7.9 | -0.00565996556890208 | -0.705189843622758 | -0.176774620509154 | -0.367627400910727 |
| 8 | -0.0773069806554265 | -0.728754337147554 | -0.272236743211374 | -1.15161326666026 |
| 8.1 | -0.151676363174065 | -0.760025340521132 | -0.320431798418941 | -1.88968794559386 |
| 8.2 | -0.229250063676892 | -0.791068874381493 | -0.269443420196352 | -2.5524267293918 |
| 8.3 | -0.309518198381683 | -0.812020729944363 | -0.116985223730814 | -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 | 0.987756481582191 | -3.98760026416638 |
| 8.7 | -0.610762318952125 | -0.584754897081678 | 1.49232424767726 | -3.97063752188253 |
| 8.8 | -0.660834371953323 | -0.410270182511013 | 1.99274911516514 | -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 | 3.18600736796194 | -2.41933128962514 |
| 9.2 | -0.618026812346333 | 0.712716882427269 | 3.24837904850609 | -1.73826248828757 |
| 9.3 | -0.530322613201749 | 1.03769639917485 | 3.14927230108926 | -0.987894646946484 |
| 9.4 | -0.411125691046272 | 1.34339406863417 | 2.88048334532758 | -0.19814256351347 |
| 9.5 | -0.263123935437519 | 1.60779762342013 | 2.36197978077322 | 0.599508838651809 |
| 9.6 | -0.0915023820210343 | 1.81056496541803 | 1.63746143257671 | 1.37325971527959 |
| 9.7 | 0.0964937857212176 | 1.93408194004453 | 0.767273551172054 | 2.0922630606308 |
| 9.8 | 0.29216268897519 | 1.96313670409293 | -0.221801959468998 | 2.72785448027254 |
| 9.9 | 0.485613572634473 | 1.88840380409875 | -1.26370594814139 | 3.25469495002842 |
| 10 | 0.666427396812341 | 1.70781029255568 | -2.32502138310778 | 3.65178100291051 |
| 10.1 | 0.823991007159132 | 1.42465365235776 | -3.33319403023266 | 3.9032820710679 |
| 10.2 | 0.948222677203596 | 1.04894121731209 | -4.13865076550263 | 3.99917160057068 |
| 10.3 | 1.03106783959303 | 0.598156775647966 | -4.76046725558521 | 3.93562677847447 |
| 10.4 | 1.06630832942662 | 0.0947352695087426 | -5.2178509060175 | 3.71518093630897 |
| 10.5 | 1.04937031020003 | -0.434312443933761 | -5.31641723595164 | 3.34662255414422 |
| 10.6 | 0.979268118613925 | -0.959752129511336 | -5.08241943079766 | 2.84464489162393 |
| 10.7 | 0.858341732719843 | -1.45161171663342 | -4.62975436959168 | 2.22926021407065 |
| 10.8 | 0.691117803129844 | -1.88025259648709 | -3.867248155187 | 1.52500196661977 |
| 10.9 | 0.485221391987975 | -2.21970646439723 | -2.85754093317886 | 0.759946703181751 |
| 11 | 0.250749571514318 | -2.44943291557137 | -1.67161013024184 | -0.0354052371616155 |
| 11.1 | -0.000438350261758313 | -2.55312745846465 | -0.375763795189948 | -0.829345682427035 |
| 11.2 | -0.255383909989734 | -2.52309987678432 | 0.952965679522388 | -1.59022273248573 |
| 11.3 | -0.500799812922485 | -2.36022031937371 | 2.28511009480977 | -2.28770262043824 |
| 11.4 | -0.723364614907139 | -2.07139984431106 | 3.47086400980713 | -2.89397902417698 |
| 11.5 | -0.911220776793722 | -1.6717298045001 | 4.42872084424201 | -3.38488161670068 |
| 11.6 | -1.05478973023788 | -1.18365614859635 | 5.21919831200576 | -3.74083966077816 |
| 11.7 | -1.14616670056199 | -0.633909431993279 | 5.71312747678929 | -3.9476622324826 |
| 11.8 | -1.1804123961182 | -0.0529039972742618 | 5.81110139261212 | -3.99710396854651 |
| 11.9 | -1.15654707774829 | 0.527556150777705 | 5.65764025054154 | -3.88719378297545 |
| 12 | -1.07610535687297 | 1.07571672648671 | 5.2163127831585 | -3.6223134480265 |
| 12.1 | -0.943500508166058 | 1.56146712848275 | 4.43697105900003 | -3.21302290677582 |
| 12.2 | -0.766525948869148 | 1.96035615835787 | 3.4609293991261 | -2.6756392815121 |
| 12.3 | -0.554942095580977 | 2.25250630665306 | 2.3272368398947 | -2.03158636156249 |
| 12.4 | -0.32008587389386 | 2.42370796171182 | 1.08931263730755 | -1.3065405044189 |
| 12.5 | -0.0743365258336663 | 2.46879082652308 | -0.1770192409213 | -0.529407000391092 |
| 12.6 | 0.169642629817314 | 2.38887320745735 | -1.41378215966272 | 0.2688322901019 |
| 12.7 | 0.399483963871667 | 2.19126967373951 | -2.49538473357942 | 1.05635408553788 |
| 12.8 | 0.604371450590226 | 1.89125156271722 | -3.41634101074438 | 1.80176237710156 |
| 12.9 | 0.775095527201341 | 1.50871959992942 | -4.16363340087401 | 2.47534008848015 |
| 13 | 0.904183269803716 | 1.06691912927852 | -4.60578356433584 | 3.05023380191841 |
| 13.1 | 0.987213176762733 | 0.591483046925517 | -4.80212576778471 | 3.50352431924356 |
| 13.2 | 1.0222218260439 | 0.108629047861588 | -4.76881448780202 | 3.81714037797079 |
| 13.3 | 1.00954233044705 | -0.356205183827859 | -4.45876635868854 | 3.97857909551135 |
| 13.4 | 0.952275171263315 | -0.780824415768228 | -3.96220376540242 | 3.98140441964624 |
| 13.5 | 0.855385974425555 | -1.14594637692938 | -3.2952486798697 | 3.82550371361801 |
| 13.6 | 0.725544290789098 | -1.4371149546949 | -2.50230123302698 | 3.5170922466029 |
| 13.7 | 0.570679594822371 | -1.64564000854823 | -1.64702732564788 | 3.06846541054212 |
| 13.8 | 0.399344625599165 | -1.76678408803482 | -0.780867714276601 | 2.49750854166557 |
| 13.9 | 0.220200979233193 | -1.80188062145097 | 0.0469489535935452 | 1.82698388857678 |
| 14 | 0.0415268224031566 | -1.75709452297478 | 0.824257478983237 | 1.08362315323148 |
| 14.1 | -0.128904759637047 | -1.64114478327725 | 1.4702707582532 | 0.297061782337445 |
| 14.2 | -0.284633634094719 | -1.46622301139372 | 1.97079614706245 | -0.501342504385716 |
| 14.3 | -0.420654547081767 | -1.24683654154735 | 2.3617661103195 | -1.27975984753679 |
| 14.4 | -0.533057798965619 | -0.997314523257609 | 2.5931017548774 | -2.00715720408228 |
| 14.5 | -0.619530033300698 | -0.731801275213912 | 2.66333555853092 | -2.65453553685187 |
| 14.6 | -0.679368912050467 | -0.462916466781307 | 2.66219437240927 | -3.19608591463845 |
| 14.7 | -0.712585847076143 | -0.20205757711387 | 2.55190149362584 | -3.61021843284074 |
| 14.8 | -0.720283767165562 | 0.0418838528707965 | 2.32163308146018 | -3.88042293482874 |
| 14.9 | -0.704765356440378 | 0.263312972330474 | 2.07883133331249 | -3.9959272197878 |
| 15 | -0.668458632382069 | 0.458661712399707 | 1.81834120086973 | -3.95212649637145 |
| 15.1 | -0.613968496315063 | 0.62613158162342 | 1.53630267476219 | -3.75076696120112 |
| 15.2 | -0.544115333500436 | 0.766427475271895 | 1.27216427812542 | -3.39987618351731 |
| 15.3 | -0.461540527904553 | 0.881036343301911 | 1.02622940697853 | -2.91344307132637 |
| 15.4 | -0.368703428238886 | 0.971781415266678 | 0.797298150514092 | -2.31086017778294 |
| 15.5 | -0.267893347068078 | 1.04105962463048 | 0.592183486473996 | -1.61615058129226 |
| 15.6 | -0.16116143103253 | 1.09030538050508 | 0.394598168220228 | -0.857010161183551 |
| 15.7 | -0.0504835333147792 | 1.11987929835739 | 0.196387416210717 | -0.0637034504004072 |
| 15.8 | 0.0621582385650784 | 1.12950638006746 | -0.00542612113233337 | 0.732142915922352 |
| 15.9 | 0.174745749233613 | 1.11775704891626 | -0.239453023627634 | 1.49880105459783 |
| 16 | 0.284938729665871 | 1.08162158397329 | -0.499980045730242 | 2.20570672496676 |
| 16.1 | 0.390131909640826 | 1.01802771910313 | -0.781014098836352 | 2.82467782872134 |
| 16.2 | 0.487514948627418 | 0.92408182259519 | -1.081230681301 | 3.33103794123112 |
| 16.3 | 0.574085680801 | 0.797145817515727 | -1.46172506984881 | 3.70460008272211 |
| 16.4 | 0.646039162276094 | 0.635051860971208 | -1.81897397838919 | 3.93047150945656 |
| 16.5 | 0.699802903967296 | 0.437977095267359 | -2.13057734233654 | 3.99964744042907 |
| 16.6 | 0.732260872235133 | 0.208731503507477 | -2.39893781212285 | 3.90937004956903 |
| 16.7 | 0.740729462381741 | -0.0478983366353404 | -2.68422717530223 | 3.66323841156328 |
| 16.8 | 0.722355780775327 | -0.324577270594466 | -2.85733049764952 | 3.27106501810577 |
| 16.9 | 0.675408794192417 | -0.611199331914063 | -2.86159329006487 | 2.74848458481898 |
| 17 | 0.599845874708859 | -0.895577408933868 | -2.75462306175829 | 2.1163307444801 |
| 17.1 | 0.496736724607718 | -1.16413733097779 | -2.55068385730742 | 1.39980547582665 |
| 17.2 | 0.368120735933503 | -1.40174697538996 | -2.16745299394969 | 0.62747438019364 |
| 17.3 | 0.217830217319791 | -1.59394033340686 | -1.63449153404535 | -0.169872138867806 |
| 17.4 | 0.0511947833656253 | -1.72774820042218 | -0.990788498984157 | -0.960446391815098 |
| 17.5 | -0.125348535578382 | -1.79095853322587 | -0.244208088454018 | -1.7127306779846 |
| 17.6 | -0.304333935406929 | -1.77494222941117 | 0.565762756929766 | -2.39673379685706 |
| 17.7 | -0.477661707666179 | -1.67577850449359 | 1.41246201984706 | -2.98518670257967 |
| 17.8 | -0.636864859726958 | -1.49279172650053 | 2.25451472115851 | -3.45462963477182 |
| 17.9 | -0.773522864576152 | -1.22990903082874 | 2.9824331051199 | -3.78634738513984 |
| 18 | -0.880356538374148 | -0.896795339672411 | 3.59912160219564 | -3.96711541377246 |
| 18.1 | -0.951198996150186 | -0.507078295983122 | 4.13585113634964 | -3.98972706981459 |
| 18.2 | -0.980682942562729 | -0.0782624790182752 | 4.41974070040262 | -3.85328089789504 |
| 18.3 | -0.965969481971245 | 0.369209230986198 | 4.44685044666184 | -3.56321657630745 |
| 18.4 | -0.906787516913142 | 0.813039716275539 | 4.32412725327608 | -3.13109805420262 |
| 18.5 | -0.804364279322279 | 1.22992832619715 | 3.95418668923767 | -2.574152533428 |
| 18.6 | -0.662399174839039 | 1.59732144999188 | 3.33450271279904 | -1.91458367435366 |
| 18.7 | -0.487089043227809 | 1.89570309190105 | 2.56072149023441 | -1.17868640600103 |
| 18.8 | -0.286171696714235 | 2.10752289091859 | 1.63380699481198 | -0.395798630201158 |
| 18.9 | -0.0689162802525407 | 2.2197528765431 | 0.60117181028112 | 0.402868387970002 |
| 19 | 0.154350854311965 | 2.22590557055069 | -0.484649769110557 | 1.18547431483754 |
| 19.1 | 0.372771491185364 | 2.12370409200131 | -1.56606702536783 | 1.92081912175304 |
| 19.2 | 0.575531457805086 | 1.91658596997832 | -2.54192275532618 | 2.57958693177947 |
| 19.3 | 0.752872196871545 | 1.61513069870749 | -3.41107769073975 | 3.13551475119317 |
| 19.4 | 0.896102159030608 | 1.23422981873053 | -4.15639887813154 | 3.56643949216576 |
| 19.5 | 0.997768132408354 | 0.792893829276582 | -4.62323032183498 | 3.85518154513635 |
| 19.6 | 1.05320180256775 | 0.313605645687501 | -4.84812446443323 | 3.99022967563122 |
| 19.7 | 1.06015422808282 | -0.17954698751638 | -4.91488492044845 | 3.96619994085656 |
| 19.8 | 1.0179578043934 | -0.660879466111878 | -4.68136281855116 | 3.78405033050763 |
| 19.9 | 0.928947752518464 | -1.10636537743868 | -4.16245180252246 | 3.45104257474272 |
| 20 | 0.798313182618308 | -1.49461244763109 | 0 | 2.9804526419174 |