Artifact 4b8a2c615b87f239de450f1c70199f4eb0e816dcd1f078355c40952ee579cfff:


% Verbal description for system TwoLinkxyn (TwoLinkxyn_desc.tex)
% Generated by MTT on Fri Jun 13 16:30:23 BST 1997.

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% Revision 1.1  1998/01/06  17:36:33  peterg
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   The acausal bond graph of system \textbf{TwoLinkxyn} is
   displayed in Figure \Ref{TwoLinkxyn_abg} and its label
   file is listed in Section \Ref{sec:TwoLinkxyn_lbl}.
   The subsystems are listed in Section \Ref{sec:TwoLinkxyn_sub}.

This system is identical to  \textbf{twolink} except that there are
now two non-collocated input-output pairs: The torque input to joint 1
-- x velocity of the tip and the torque input to joint 2
-- y velocity of the tip. 

It uses two compound components: {\bf ROD} and {\bf GRAV}.  {\bf ROD}
is essentially as described in Figure 10.2 of "Metamodelling" and {\bf
GRAV} represents gravity by a vertical acceleration as in Section
10.9 of "Metamodelling"

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