% Verbal description for system twolinkxyn (twolinkxyn_desc.tex)
% Generated by MTT on Fri Jun 13 16:30:23 BST 1997.

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% %% $Id$
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% Revision 1.1  1997/08/15  13:31:00  peterg
% Initial revision
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   The acausal bond graph of system \textbf{twolinkxyn} is
   displayed in Figure \Ref{twolinkxyn_abg} and its label
   file is listed in Section \Ref{sec:twolinkxyn_lbl}.
   The subsystems are listed in Section \Ref{sec:twolinkxyn_sub}.

This system is identical to  \textbf{twolink} except that there are
now two non-collocated input-output pairs: The torque input to joint 1
-- x velocity of the tip and the torque input to joint 2
-- y velocity of the tip. 

It uses two compound components: {\bf ROD} and {\bf GRAV}.  {\bf ROD}
is essentially as described in Figure 10.2 of "Metamodelling" and {\bf
GRAV} represents gravity by a vertical acceleration as in Section
10.9 of "Metamodelling"

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%SUMMARY twolinkxyn: 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 source sensors are not collocated:
%DESCRIPTION sources at the joints, sensors at the xy motion of the tip.

%% Label (twolinkxyn_lbl.txt)

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% %% Version control history
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% %% $Id$
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% %% Revision 1.1  1998/01/06  15:56:31  peterg
% %% Initial revision
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%% 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	external	internal
f_a2	external	internal

%Forces at tip
F_x	0		external
F_y	0		external


%Gravity
g