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Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_desc.tex version [dde59dc4e7].
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% Verbal description for system twolinkxyn (twolinkxyn_desc.tex)
% Generated by MTT on Fri Jun 13 16:30:23 BST 1997.
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% Revision 1.1 1997/08/15 13:31:00 peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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"
%%% Local Variables:
%%% mode: plain-tex
%%% TeX-master: t
%%% End:
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Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_lbl.txt version [9f8c30d9b0].
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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)
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1 1998/01/06 15:56:31 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;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
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