LIBRARY

Kinematic5

A component emitting a 5th order polynomial trajectory.

traj5 is a simple trajectory planner that plans a 5th order polynomial trajectory between two points, subject to specified boundary conditions on the position, velocity and acceleration.

The outputs are:

• q: Position

• qd: Velocity

• qdd: Acceleration

Usage

MultibodyComponents.Kinematic5(tf=1, q0=fill(0.0, nout), q1=fill(1.0, nout), qd0=fill(0.0, nout), qd1=fill(0.0, nout), qdd0=fill(0.0, nout), qdd1=fill(0.0, nout))

Parameters:

Name	Description	Units	Default value
nout	Number of output axes	–	1
tf	Final time for the trajectory	–	1
q0	Initial position for each axis	–	fill(0, nout)
q1	Final position for each axis	–	fill(1, nout)
qd0	Initial velocity for each axis	–	fill(0, nout)
qd1	Final velocity for each axis	–	fill(0, nout)
qdd0	Initial acceleration for each axis	–	fill(0, nout)
qdd1	Final acceleration for each axis	–	fill(0, nout)

Connectors

• q - This connector represents a real signal as an output from a component (RealOutput)

• qd - This connector represents a real signal as an output from a component (RealOutput)

• qdd - This connector represents a real signal as an output from a component (RealOutput)

Behavior

$$\begin{array}{rl}q\mathrm{\_}1\left(t\right)& =traj5\mathrm{\_}q(t,\mathtt{tf},{\mathtt{q}\mathtt{0}}_1,{\mathtt{q}\mathtt{1}}_1,{\mathtt{qd}\mathtt{0}}_1,{\mathtt{qd}\mathtt{1}}_1,{\mathtt{qdd}\mathtt{0}}_1,{\mathtt{qdd}\mathtt{1}}_1)\\ \mathtt{qd}\mathrm{\_}1\left(t\right)& =traj5\mathrm{\_}qd(t,\mathtt{tf},{\mathtt{q}\mathtt{0}}_1,{\mathtt{q}\mathtt{1}}_1,{\mathtt{qd}\mathtt{0}}_1,{\mathtt{qd}\mathtt{1}}_1,{\mathtt{qdd}\mathtt{0}}_1,{\mathtt{qdd}\mathtt{1}}_1)\\ \mathtt{qdd}\mathrm{\_}1\left(t\right)& =traj5\mathrm{\_}qdd(t,\mathtt{tf},{\mathtt{q}\mathtt{0}}_1,{\mathtt{q}\mathtt{1}}_1,{\mathtt{qd}\mathtt{0}}_1,{\mathtt{qd}\mathtt{1}}_1,{\mathtt{qdd}\mathtt{0}}_1,{\mathtt{qdd}\mathtt{1}}_1)\end{array}$$

Source

"""
A component emitting a 5th order polynomial trajectory.

`traj5` is a simple trajectory planner that plans a 5th order polynomial trajectory
between two points, subject to specified boundary conditions on the position, velocity
and acceleration.

The outputs are:
- `q`: Position
- `qd`: Velocity
- `qdd`: Acceleration
"""
component Kinematic5
  "Position output for each axis"
  q = [RealOutput() for i in 1:nout] {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 960, "y1": 150, "x2": 1060, "y2": 250, "rot": 0}
      },
      "tags": []
    }
  }
  "Velocity output for each axis"
  qd = [RealOutput() for i in 1:nout] {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 960, "y1": 450, "x2": 1060, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  "Acceleration output for each axis"
  qdd = [RealOutput() for i in 1:nout] {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 960, "y1": 750, "x2": 1060, "y2": 850, "rot": 0}
      },
      "tags": []
    }
  }
  "Number of output axes"
  structural parameter nout::Integer = 1
  "Final time for the trajectory"
  parameter tf::Real = 1
  "Initial position for each axis"
  parameter q0::Real[nout] = fill(0.0, nout)
  "Final position for each axis"
  parameter q1::Real[nout] = fill(1.0, nout)
  "Initial velocity for each axis"
  parameter qd0::Real[nout] = fill(0.0, nout)
  "Final velocity for each axis"
  parameter qd1::Real[nout] = fill(0.0, nout)
  "Initial acceleration for each axis"
  parameter qdd0::Real[nout] = fill(0.0, nout)
  "Final acceleration for each axis"
  parameter qdd1::Real[nout] = fill(0.0, nout)
relations
  for i in 1:nout
    q[i] = MultibodyComponents.traj5_q(time, tf, q0[i], q1[i], qd0[i], qd1[i], qdd0[i], qdd1[i])
    qd[i] = MultibodyComponents.traj5_qd(time, tf, q0[i], q1[i], qd0[i], qd1[i], qdd0[i], qdd1[i])
    qdd[i] = MultibodyComponents.traj5_qdd(time, tf, q0[i], q1[i], qd0[i], qd1[i], qdd0[i], qdd1[i])
  end
metadata {"Dyad": {"icons": {"default": "dyad://MultibodyComponents/Kinematic5.svg"}}}
end

Flattened Source

"""
A component emitting a 5th order polynomial trajectory.

`traj5` is a simple trajectory planner that plans a 5th order polynomial trajectory
between two points, subject to specified boundary conditions on the position, velocity
and acceleration.

The outputs are:
- `q`: Position
- `qd`: Velocity
- `qdd`: Acceleration
"""
component Kinematic5
  "Position output for each axis"
  q = [RealOutput() for i in 1:nout] {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 960, "y1": 150, "x2": 1060, "y2": 250, "rot": 0}
      },
      "tags": []
    }
  }
  "Velocity output for each axis"
  qd = [RealOutput() for i in 1:nout] {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 960, "y1": 450, "x2": 1060, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  "Acceleration output for each axis"
  qdd = [RealOutput() for i in 1:nout] {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 960, "y1": 750, "x2": 1060, "y2": 850, "rot": 0}
      },
      "tags": []
    }
  }
  "Number of output axes"
  structural parameter nout::Integer = 1
  "Final time for the trajectory"
  parameter tf::Real = 1
  "Initial position for each axis"
  parameter q0::Real[nout] = fill(0.0, nout)
  "Final position for each axis"
  parameter q1::Real[nout] = fill(1.0, nout)
  "Initial velocity for each axis"
  parameter qd0::Real[nout] = fill(0.0, nout)
  "Final velocity for each axis"
  parameter qd1::Real[nout] = fill(0.0, nout)
  "Initial acceleration for each axis"
  parameter qdd0::Real[nout] = fill(0.0, nout)
  "Final acceleration for each axis"
  parameter qdd1::Real[nout] = fill(0.0, nout)
relations
  for i in 1:nout
    q[i] = MultibodyComponents.traj5_q(time, tf, q0[i], q1[i], qd0[i], qd1[i], qdd0[i], qdd1[i])
    qd[i] = MultibodyComponents.traj5_qd(time, tf, q0[i], q1[i], qd0[i], qd1[i], qdd0[i], qdd1[i])
    qdd[i] = MultibodyComponents.traj5_qdd(time, tf, q0[i], q1[i], qd0[i], qd1[i], qdd0[i], qdd1[i])
  end
metadata {"Dyad": {"icons": {"default": "dyad://MultibodyComponents/Kinematic5.svg"}}}
end

Test Cases

No test cases defined.

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