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Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_input.txt version [1fea5dda9b].
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# Numerical parameter file (TwoLink_input.txt)
# Generated by MTT at Fri Jun 13 16:56:09 BST 1997
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# 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
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Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_lbl.txt version [25f795ebd1].
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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"
%% Label (TwoLink_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_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
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Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_numpar.txt version [0fbe82c500].
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# Numerical parameter file (TwoLink_numpar.txt)
# Generated by MTT at Mon Jan 19 13:53:15 GMT 1998
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# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# 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
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Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_simpar.txt version [3605f48324].
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# Simulation parameters for system TwoLink (TwoLink_simpar.txt)
# Generated by MTT on Mon Jul 27 08:16:50 BST 1998.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################
LAST=50.0;
DT=0.1;
STEPFACTOR=10;
METHOD="Euler";
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