%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 1.2 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 - identical rods rod1 none l;l;j;m;mg rod2 none l;l;j;m;mg %Zero velocity sources v_x internal 0 %Zero force/torque sources F_a 0 internal %Torque at joints f_a1 0 internal f_a2 0 internal %Forces at tip F_x external external F_y external external %Gravity g