1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
|
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
|
-
+
-
+
-
+
-
+
-
+
-
-
+
+
-
-
+
+
|
%SUMMARY twolinkxyn: two-link manipulator with collocated tip source-sensors.
%SUMMARY TwoLinkxyn: two-link manipulator with collocated tip source-sensors.
%DESCRIPTION This is related to a heirachical version of the
%DESCRIPTION example from Section 10.5 of "Metamodelling".
%DESCRIPTION It uses two compound components: ROD and GRA
%DESCRIPTION ROD is essentially as described in Figure 10.2
%DESCRIPTION GRAV represents gravity by a vertical accelleration
%DESCRIPTION as in Section 10.9 of "Metamodelling"
%DESCRIPTION except that the source sensors are not collocated:
%DESCRIPTION sources at the joints, sensors at the xy motion of the tip.
%% Label (twolinkxyn_lbl.txt)
%% Label (TwoLinkxyn_lbl.txt)
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1 1998/01/06 15:56:31 peterg
% %% Revision 1.1 1998/01/06 17:37:55 peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% Each line should be of one of the following forms:
% a comment (ie starting with %)
% Component-name CR_name arg1,arg2,..argn
% blank
%Rod parameters - identical rods
rod1 none l;l;j;m;mg
rod2 none l;l;j;m;mg
%Zero velocity sources
v_x internal 0
v_x SS internal,0
%Zero force/torque sources
F_a 0 internal
F_a SS 0,internal
%Torque at joints
f_a1 external internal
f_a2 external internal
f_a1 SS external,internal
f_a2 SS external,internal
%Forces at tip
F_x 0 external
F_y 0 external
F_x SS 0,external
F_y SS 0,external
%Gravity
g
|