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.

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(0.0, nout)
q1	Final position for each axis	–	fill(1.0, nout)
qd_max	Maximum velocity for each axis	–	fill(1.0, nout)
qdd_max	Maximum acceleration for each axis	–	fill(1.0, 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

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.
"""
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.
"""
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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