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(0.0, nout)
q1	Final position for each axis	–	fill(1.0, nout)
qd0	Initial velocity for each axis	–	fill(0.0, nout)
qd1	Final velocity for each axis	–	fill(0.0, nout)
qdd0	Initial acceleration for each axis	–	fill(0.0, nout)
qdd1	Final acceleration for each axis	–	fill(0.0, 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

Dict{MIME{Symbol("text/plain")}, String} with 1 entry: MIME type text/plain => "Error displaying result"

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)
  "Trajectory of all axes, planned once: positions, velocities and accelerations"
  structural variable traj::Native[3] = MultibodyComponents.traj5_trajectory(time, tf, q0, q1, qd0, qd1, qdd0, qdd1)
relations
  q = traj[1]
  qd = traj[2]
  qdd = traj[3]
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)
  "Trajectory of all axes, planned once: positions, velocities and accelerations"
  structural variable traj::Native[3] = MultibodyComponents.traj5_trajectory(time, tf, q0, q1, qd0, qd1, qdd0, qdd1)
relations
  q = traj[1]
  qd = traj[2]
  qdd = traj[3]
metadata {"Dyad": {"icons": {"default": "dyad://MultibodyComponents/Kinematic5.svg"}}}
end

Test Cases

No test cases defined.

Related

• Examples

• Experiments

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