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SHA3-256: 6d1fb2bcbf3fc667805593102dfece6151b20e5dfbbb9c4f72e121747b88cb55
User & Date: gawthrop@users.sourceforge.net on 1996-12-05 12:18:36
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Context
1996-12-05
12:39:49
Documentation check-in: 827e829554 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
12:18:36
Initial revision check-in: 6d1fb2bcbf user: gawthrop@users.sourceforge.net tags: origin/master, trunk
11:26:51
Null strings now detected with strcmp not length. check-in: ad91d3a015 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
Changes
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Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/twolink_lbl.txt version [66bbd0edb6]. 



































































































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%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"
%DESCRIPTION Note that the rfe rep is not appropriate here - see 
%DESCRIPTION twolinkM for more details

%% Label (twolink_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% 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 - identical rods
rod1	none	l;l;j;m
rod2	none	l;l;j;m

%Zero velocity sources
v_x	internal	0


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


%Torque at joints
f_a1	external external
f_a2	external external


%Gravity
g

Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/twolink_params.r version [eb6c0cbeba]. 



















































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%% Parameter file for system twolink (twolink_params.r)
%% This file provides symbolic parameters for simplification

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

% Useful trig simplifications


        trig1 := {cos(~x)*cos(~y) => (cos(x+y)+cos(x-y))/2,
                  cos(~x)*sin(~y) => (sin(x+y)-sin(x-y))/2,
                  sin(~x)*sin(~y) => (cos(x-y)-cos(x+y))/2,
                  cos(~x)^2       => (1+cos(2*x))/2,
                  sin(~x)^2       => (1-cos(2*x))/2};
       LET trig1;

% Some simplifications -- see book
j := m*l*l/3;

END;

Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/twolink_simp.r version [322b9f1b83]. 































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%% Reduce comands to simplify output for system twolink (twolink_simp.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%simplify the output equations
% Joint  angles
mttx2 := theta_1;
mttx4 := theta_1 + theta_2;
END;

Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_lbl.txt version [66bbd0edb6]. 



































































































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%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"
%DESCRIPTION Note that the rfe rep is not appropriate here - see 
%DESCRIPTION twolinkM for more details

%% Label (twolink_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% 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 - identical rods
rod1	none	l;l;j;m
rod2	none	l;l;j;m

%Zero velocity sources
v_x	internal	0


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


%Torque at joints
f_a1	external external
f_a2	external external


%Gravity
g

Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_params.r version [eb6c0cbeba]. 



















































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%% Parameter file for system twolink (twolink_params.r)
%% This file provides symbolic parameters for simplification

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

% Useful trig simplifications


        trig1 := {cos(~x)*cos(~y) => (cos(x+y)+cos(x-y))/2,
                  cos(~x)*sin(~y) => (sin(x+y)-sin(x-y))/2,
                  sin(~x)*sin(~y) => (cos(x-y)-cos(x+y))/2,
                  cos(~x)^2       => (1+cos(2*x))/2,
                  sin(~x)^2       => (1-cos(2*x))/2};
       LET trig1;

% Some simplifications -- see book
j := m*l*l/3;

END;

Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_simp.r version [322b9f1b83]. 































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%% Reduce comands to simplify output for system twolink (twolink_simp.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%simplify the output equations
% Joint  angles
mttx2 := theta_1;
mttx4 := theta_1 + theta_2;
END;

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