Kinematic and Dynamic Analysis of Spatial Six Degree of Freedom ...

clicking again will stop recording data. When recording, iMIDAS saves every change
of platform position either manual or automatic.
• Clear data in memory: Clears the recorded data from memory.
• Save as: This item opens a dialog for you to give a filename for the data file. However
this item does not save your file, one has to click Save button for that. The filename
extension is .ikd by default (inverse kinematic data). The file is in text format and can
be viewed by appropriate viewers such as notepad.
• Save: Saves the data file in memory to disk, using the name selected before.
Analysis
• Demonstration: iMIDAS will give random motions to the platform. If you have
already selected to sample data to memory, then the motions created by this option
will also be saved. Clicking on this menu item will stop demonstration.
• Reset position: This will reset the platform to its starting position (x=0, y=0,
z=stroke, yaw = 0, pitch =0, roll =0).
A.2.7 Source Code
Like all visual programming languages, Delphi creates very long codes. Due to this,
only the engine of iMIDAS is presented here.
procedure ReadTransformationParameters;
begin
rx:=InvMainForm.UpDownX.Position;
ry:=InvMainForm.UpDownY.Position;
rz:=InvMainForm.UpDownZ.Position;
roll:=InvMainForm.UpDownRoll.Position*pi/180;
pitch:=InvMainForm.UpDownPitch.Position*pi/180;
yaw:=InvMainForm.UpDownYaw.Position*pi/180;
end;
procedure MyPoint.Transform(r,p,y,rox,roy,roz : double);
var
dx,dy,dz : double;
begin
dx:=cos(y)*cos(p)*px;
dx:=(cos(y)*sin(p)*sin(r)-sin(y)*cos(r))*py+dx;
dy:=sin(y)*cos(p)*px;
dy:=(sin(y)*sin(p)*sin(r)+cos(y)*cos(r))*py+dy;
dz:=-sin(p)*px;
dz:=cos(p)*sin(r)*py+dz;
ptx:=rox+dx;
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