%SUMMARY TwoLinkPSX: two-link manipulator from Section 10.5 of "Metamodelling"
%DESCRIPTION This is 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"
%% Label (TwoLinkPSX_lbl.txt)
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2 1996/12/05 12:39:49 peterg
% %% Documentation
% %%
% %% Revision 1.1 1996/12/05 12:17:15 peterg
% %% Initial revision
% %%
% %% Revision 1.1 1996/11/14 10:48:42 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 - uniform rods
rod1 none l_r;l_r;j_r;m_r
rod2 none l_r;l_r;j_r;m_r
%Zero velocity sources
v_x SS internal,0
v_y SS internal,0
%Zero force/torque sources
F_x SS 0,internal
F_a SS 0,internal
F_y SS 0,internal
%Named ports
[Joint_1] SS external,internal
[Joint_2] SS external,internal
[Theta_1] SS external,0
[Theta_2] SS external,0
%Torque/velocity at joints
%f_a1 SS external,external
%f_a2 SS external,external