% tutorial2.m
%
% Virtual work and force using the Freeform Manipulator Analysis Tool
% Created 06/2010 by Lael Odhner <lael.odhner@yale.edu>

% start by running the script from the previous example to create a robot
% object.
tutorial1;

% Define an energy storage mode corresponding to force at the endpoint of
% the manipulator.
r.Add_ES_Mode('tip', 'const_force', Link2_Dist);
r.ES_Mode('tip').SetForce([1; -1; 0]);

% For the moment, we'll assume that the manipulator is actuated serially,
% at each joint. Thus, the actuator forces corresponding to this coordinate
% system are the generalized forces. Here we calculate it for the
% configuration q1 used above.
f_gen = r.Force(q1);

% We can also find the minimum energy configuration corresponding to this
% force (should be extended at -45 degrees, straight out)
q_min = r.MinimizeEnergy(q1);