using ModelingToolkit: t_nounits as t, D_nounits as D
using OrdinaryDiffEqRosenbrock
@named model = Multibody.Robot6DOF();
ssys = multibody(model)
@time prob = ODEProblem(ssys, [
ssys.mechanics.r1.phi => deg2rad(-60)
ssys.mechanics.r2.phi => deg2rad(20)
ssys.mechanics.r3.phi => deg2rad(90)
ssys.mechanics.r4.phi => deg2rad(0)
ssys.mechanics.r5.phi => deg2rad(-110)
ssys.mechanics.r6.phi => deg2rad(0)
ssys.axis1.motor.Jmotor.phi => deg2rad(-60) * (-105) # Multiply by gear ratio
ssys.axis2.motor.Jmotor.phi => deg2rad(20) * (210)
ssys.axis3.motor.Jmotor.phi => deg2rad(90) * (60)
ssys.axis1.motor.Jmotor.w => 0
ssys.axis2.motor.Jmotor.w => 0
ssys.axis3.motor.Jmotor.w => 0
], (0.0, 2.0));
sol = solve(prob, Rodas5P())
Seems to be accelerate only
┌ Warning: Verbosity toggle: blas_errors
│ BLAS/LAPACK dgetrf: Matrix is singular
│ Details: U(7,7) is exactly zero. The factorization has been completed, but U is singular and division by U will produce infinity.
│ Return code (info): 7
│ Matrix size: (23, 23)
│ Matrix type: Matrix{Float64}
│ Element type: Float64
│ Memory usage: 0.0 MB
│ RHS length: 23
│ RHS type: Vector{Float64}
└ @ LinearSolve ~/.julia/packages/LinearSolve/T1iPD/src/appleaccelerate.jl:348
┌ Warning: Verbosity toggle: solver_failure
│ Solver failed
└ @ LinearSolve ~/.julia/packages/LinearSolve/T1iPD/src/appleaccelerate.jl:368
Seems to be accelerate only