Overview
Comment: | Initial revision |
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Downloads: | Tarball | ZIP archive | SQL archive |
Timelines: | family | ancestors | descendants | both | origin/master | trunk |
Files: | files | file ages | folders |
SHA3-256: |
6d1fb2bcbf3fc667805593102dfece61 |
User & Date: | gawthrop@users.sourceforge.net on 1996-12-05 12:18:36 |
Other Links: | branch diff | manifest | tags |
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
Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/twolink_lbl.txt version [66bbd0edb6].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 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 36 37 38 39 40 41 42 43 44 45 46 47 48 | %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].
> > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 | %% 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].
> > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 | %% 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].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 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 36 37 38 39 40 41 42 43 44 45 46 47 48 | %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].
> > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 | %% 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].
> > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 | %% 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; |