ADDED mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_desc.tex Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_desc.tex ================================================================== --- /dev/null +++ mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_desc.tex @@ -0,0 +1,30 @@ +% Verbal description for system itwolink (itwolink_desc.tex) +% Generated by MTT on Mon Nov 17 10:42:48 GMT 1997. + +% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% %% Version control history +% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% %% $Id$ +% %% $Log$ +% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + The acausal bond graph of system \textbf{itwolink} is + displayed in Figure \Ref{itwolink_abg} and its label + file is listed in Section \Ref{sec:itwolink_lbl}. + The subsystems are listed in Section \Ref{sec:itwolink_sub}. + +This example illustrates the inversion of two link manipulator +dynamics using two identical simple mass-spring-damper systems as +specification systems. + +The velocities $\omega_1=\omega_2$ specified by the specification +systems are given in Figure \Ref{fig:itwolink_odeso.ps-itwolink-t1s} +together with the input defined in Section \Ref{sec:itwolink_input}. +The torques $\tau_1$ and $\tau_2$ required to give the these +velocities specified by the specification system are given in Figures +\Ref{fig:itwolink_odeso.ps-itwolink-t1} and +\Ref{fig:itwolink_odeso.ps-itwolink-t2} respectively. + +The corresponding velocity/torque diagrams for joint 1 appears in +\Ref{fig:itwolink_odeso.ps-itwolink-t1s:itwolink-t1}. + ADDED mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_rep.txt Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_rep.txt ================================================================== --- /dev/null +++ mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_rep.txt @@ -0,0 +1,35 @@ +# Outline report file for system itwolink (itwolink_rep.txt) + +% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% %% Version control history +% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% %% $Id$ +% %% $Log$ +% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +mtt -c itwolink abg tex +mtt -c itwolink struc tex +mtt -c itwolink simp r +mtt -c itwolink dae tex +mtt -c itwolink cse tex +mtt -c itwolink ode tex +mtt -c itwolink sspar r +mtt -c itwolink dm tex +mtt -c itwolink sm tex +mtt -c itwolink tf tex +mtt -c itwolink lmfr ps + +mtt -c itwolink odes h +mtt -c itwolink numpar txt +mtt -c itwolink input txt +mtt -c itwolink odeso ps 'itwolink_t1' +mtt -c itwolink odeso ps 'itwolink_t2' +mtt -c itwolink odeso ps 'itwolink_t1s' +mtt -c itwolink odeso ps 'itwolink_t1s:itwolink_t1' +mtt -c itwolink odeso ps 'itwolink_t1s:itwolink_t2' +mtt -c itwolink rep txt + + + + +