%SUMMARY TwoLinkxyc: 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 collocated source-sensors act at the
%DESCRIPTION tip rather than at the joints.
%% Label (TwoLinkxyc_lbl.txt)
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1 1998/01/06 15:56:31 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 SS internal,0
%Zero force/torque sources
F_a SS 0,internal
%Torque at joints
f_a1 SS 0,internal
f_a2 SS 0,internal
%Forces at tip
F_x SS external,external
F_y SS external,external
%Gravity
g