LIBRARY

KinematicPTPBoundedJerk

A component emitting a time-optimal point-to-point trajectory with bounded velocity, acceleration, and jerk, generated using JerkLimiter from TrajectoryLimiters.jl.

When multiple axes are specified, the trajectories are time-synchronized so all axes reach their targets at the same time.

The outputs are:

• q: Position

• qd: Velocity

• qdd: Acceleration

• qddd: Jerk

Usage

MultibodyComponents.KinematicPTPBoundedJerk(q0=fill(0.0, nout), q1=fill(1.0, nout), qd_max=fill(1.0, nout), qdd_max=fill(1.0, nout), qddd_max=fill(10.0, 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)
qddd_max	Maximum jerk for each axis	–	fill(10, 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)

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

Behavior

using MultibodyComponents #hide
using ModelingToolkit #hide
@variables q0 #hide
@variables q1 #hide
@variables qd_max #hide
@variables qdd_max #hide
@variables qddd_max #hide
@named sys = MultibodyComponents.KinematicPTPBoundedJerk(q0=q0, q1=q1, qd_max=qd_max, qdd_max=qdd_max, qddd_max=qddd_max) #hide
full_equations(sys) #hide

Source

"""
A component emitting a time-optimal point-to-point trajectory with bounded velocity,
acceleration, and jerk, generated using `JerkLimiter` from TrajectoryLimiters.jl.

When multiple axes are specified, the trajectories are time-synchronized so all axes
reach their targets at the same time.

The outputs are:
- `q`: Position
- `qd`: Velocity
- `qdd`: Acceleration
- `qddd`: Jerk
"""
external component KinematicPTPBoundedJerk
  "Position output for each axis"
  q = [RealOutput() for i in 1:nout] {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 960, "y1": 100, "x2": 1060, "y2": 200, "rot": 0}
      },
      "tags": []
    }
  }
  "Velocity output for each axis"
  qd = [RealOutput() for i in 1:nout] {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 960, "y1": 330, "x2": 1060, "y2": 430, "rot": 0}
      },
      "tags": []
    }
  }
  "Acceleration output for each axis"
  qdd = [RealOutput() for i in 1:nout] {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 960, "y1": 590, "x2": 1060, "y2": 690, "rot": 0}
      },
      "tags": []
    }
  }
  "Jerk output for each axis"
  qddd = [RealOutput() for i in 1:nout] {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 960, "y1": 790, "x2": 1060, "y2": 890, "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)
  "Maximum jerk for each axis"
  parameter qddd_max::Real[nout] = fill(10.0, nout)
relations
metadata {
  "Dyad": {"icons": {"default": "dyad://MultibodyComponents/KinematicPTPBoundedJerk.svg"}}
}
end

Flattened Source

"""
A component emitting a time-optimal point-to-point trajectory with bounded velocity,
acceleration, and jerk, generated using `JerkLimiter` from TrajectoryLimiters.jl.

When multiple axes are specified, the trajectories are time-synchronized so all axes
reach their targets at the same time.

The outputs are:
- `q`: Position
- `qd`: Velocity
- `qdd`: Acceleration
- `qddd`: Jerk
"""
external component KinematicPTPBoundedJerk
  "Position output for each axis"
  q = [RealOutput() for i in 1:nout] {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 960, "y1": 100, "x2": 1060, "y2": 200, "rot": 0}
      },
      "tags": []
    }
  }
  "Velocity output for each axis"
  qd = [RealOutput() for i in 1:nout] {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 960, "y1": 330, "x2": 1060, "y2": 430, "rot": 0}
      },
      "tags": []
    }
  }
  "Acceleration output for each axis"
  qdd = [RealOutput() for i in 1:nout] {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 960, "y1": 590, "x2": 1060, "y2": 690, "rot": 0}
      },
      "tags": []
    }
  }
  "Jerk output for each axis"
  qddd = [RealOutput() for i in 1:nout] {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 960, "y1": 790, "x2": 1060, "y2": 890, "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)
  "Maximum jerk for each axis"
  parameter qddd_max::Real[nout] = fill(10.0, nout)
relations
metadata {
  "Dyad": {"icons": {"default": "dyad://MultibodyComponents/KinematicPTPBoundedJerk.svg"}}
}
end

Test Cases

No test cases defined.

Related

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