LIBRARY

KinematicPTP

A component emitting a trajectory created by the point_to_point trajectory generator.

The trajectory exhibits piecewise constant acceleration, piecewise linear velocity and piecewise quadratic position curves, subject to maximum velocity and acceleration constraints.

The outputs are:

• q: Position

• qd: Velocity

• qdd: Acceleration

Usage

MultibodyComponents.KinematicPTP(q0=fill(0.0, nout), q1=fill(1.0, nout), qd_max=fill(1.0, nout), qdd_max=fill(1.0, nout))

Parameters:

Name	Description	Units	Default value
nout	Number of output axes	–	1
q0	Initial position for each axis	–	fill(0, nout)
q1	Final position for each axis	–	fill(1, nout)
qd_max	Maximum velocity for each axis	–	fill(1, nout)
qdd_max	Maximum acceleration for each axis	–	fill(1, 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

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

Source

"""
A component emitting a trajectory created by the `point_to_point` trajectory generator.

The trajectory exhibits piecewise constant acceleration, piecewise linear velocity
and piecewise quadratic position curves, subject to maximum velocity and acceleration
constraints.

The outputs are:
- `q`: Position
- `qd`: Velocity
- `qdd`: Acceleration
"""
component KinematicPTP
  "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
  "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)
  "Maximum velocity for each axis"
  parameter qd_max::Real[nout] = fill(1.0, nout)
  "Maximum acceleration for each axis"
  parameter qdd_max::Real[nout] = fill(1.0, nout)
relations
  for i in 1:nout
    q[i] = MultibodyComponents.ptp_q(time, q0[i], q1[i], qd_max[i], qdd_max[i])
    qd[i] = MultibodyComponents.ptp_qd(time, q0[i], q1[i], qd_max[i], qdd_max[i])
    qdd[i] = MultibodyComponents.ptp_qdd(time, q0[i], q1[i], qd_max[i], qdd_max[i])
  end
metadata {"Dyad": {"icons": {"default": "dyad://MultibodyComponents/KinematicPTP.svg"}}}
end

Flattened Source

"""
A component emitting a trajectory created by the `point_to_point` trajectory generator.

The trajectory exhibits piecewise constant acceleration, piecewise linear velocity
and piecewise quadratic position curves, subject to maximum velocity and acceleration
constraints.

The outputs are:
- `q`: Position
- `qd`: Velocity
- `qdd`: Acceleration
"""
component KinematicPTP
  "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
  "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)
  "Maximum velocity for each axis"
  parameter qd_max::Real[nout] = fill(1.0, nout)
  "Maximum acceleration for each axis"
  parameter qdd_max::Real[nout] = fill(1.0, nout)
relations
  for i in 1:nout
    q[i] = MultibodyComponents.ptp_q(time, q0[i], q1[i], qd_max[i], qdd_max[i])
    qd[i] = MultibodyComponents.ptp_qd(time, q0[i], q1[i], qd_max[i], qdd_max[i])
    qdd[i] = MultibodyComponents.ptp_qdd(time, q0[i], q1[i], qd_max[i], qdd_max[i])
  end
metadata {"Dyad": {"icons": {"default": "dyad://MultibodyComponents/KinematicPTP.svg"}}}
end

Test Cases

No test cases defined.

Related

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