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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
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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;
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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;
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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
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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;
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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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