# Numerical parameter file (TwoLink_input.txt)
# Generated by MTT at Fri Jun 13 16:56:09 BST 1997

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# Set the inputs
u(1) =	(t<1.0);		# Torque on Joint 1
u(2) =	-(t>10.0)&&(t<11.0);	# Torque on Joint 2
u(3) =	0.0;			# Gravity

%SUMMARY TwoLink: 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 (TwoLink_lbl.txt)

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% %% $Id$
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% %% 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
% %%
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%% 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_1;l_1;j_1;m_1
rod2	none	l_2;l_2;j_2;m_2

%Zero velocity sources
v_x	internal	0
v_y	internal	0


%Zero force/torque sources
F_x	0	internal
F_a	0	internal
F_y	0	internal


%Torque/velocity at joints
f_a1	external external
f_a2	external external

# Numerical parameter file (TwoLink_numpar.txt)
# Generated by MTT at Mon Jan 19 13:53:15 GMT 1998

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# Parameters
j_1 = 	1.0; # Parameter j_1 for TwoLink
j_2 = 	1.0; # Parameter j_2 for TwoLink
l_1 = 	1.0; # Parameter l_1 for TwoLink
l_2 = 	1.0; # Parameter l_2 for TwoLink
m_1 = 	1.0; # Parameter m_1 for TwoLink
m_2 = 	1.0; # Parameter m_2 for TwoLink

# Simulation parameters for system TwoLink (TwoLink_simpar.txt)
# Generated by MTT on Mon Jul 27 08:16:50 BST 1998.
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LAST=50.0;
DT=0.1;
STEPFACTOR=10;
METHOD="Euler";