%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