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| User & Date: | gawthrop@users.sourceforge.net on 1997-12-09 16:53:42 |
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Context
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1997-12-11
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| 09:04:47 |
Reduced default rep.txt file to just abg.txt -- this is to document components which may not be causally complete check-in: c848dbc1db user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
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1997-12-09
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| 16:53:42 | Initial revision check-in: 5514387d35 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
| 12:30:26 | Initial revision check-in: 72fa1bbeb3 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
Changes
Added mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_desc.tex version [d924cd46a0].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 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 |
% Verbal description for system itwolink (itwolink_desc.tex)
% Generated by MTT on Mon Nov 17 10:42:48 GMT 1997.
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
The acausal bond graph of system \textbf{itwolink} is
displayed in Figure \Ref{itwolink_abg} and its label
file is listed in Section \Ref{sec:itwolink_lbl}.
The subsystems are listed in Section \Ref{sec:itwolink_sub}.
This example illustrates the inversion of two link manipulator
dynamics using two identical simple mass-spring-damper systems as
specification systems.
The velocities $\omega_1=\omega_2$ specified by the specification
systems are given in Figure \Ref{fig:itwolink_odeso.ps-itwolink-t1s}
together with the input defined in Section \Ref{sec:itwolink_input}.
The torques $\tau_1$ and $\tau_2$ required to give the these
velocities specified by the specification system are given in Figures
\Ref{fig:itwolink_odeso.ps-itwolink-t1} and
\Ref{fig:itwolink_odeso.ps-itwolink-t2} respectively.
The corresponding velocity/torque diagrams for joint 1 appears in
\Ref{fig:itwolink_odeso.ps-itwolink-t1s:itwolink-t1}.
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Added mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_rep.txt version [e6822537da].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 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 | # Outline report file for system itwolink (itwolink_rep.txt) % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% Version control history % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% $Id$ % %% $Log$ % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% mtt -c itwolink abg tex mtt -c itwolink struc tex mtt -c itwolink simp r mtt -c itwolink dae tex mtt -c itwolink cse tex mtt -c itwolink ode tex mtt -c itwolink sspar r mtt -c itwolink dm tex mtt -c itwolink sm tex mtt -c itwolink tf tex mtt -c itwolink lmfr ps mtt -c itwolink odes h mtt -c itwolink numpar txt mtt -c itwolink input txt mtt -c itwolink odeso ps 'itwolink_t1' mtt -c itwolink odeso ps 'itwolink_t2' mtt -c itwolink odeso ps 'itwolink_t1s' mtt -c itwolink odeso ps 'itwolink_t1s:itwolink_t1' mtt -c itwolink odeso ps 'itwolink_t1s:itwolink_t2' mtt -c itwolink rep txt |