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PlanarMechanics.PrescribedPose.md

PlanarMechanics.PrescribedPose ​

Prescribed position and orientation of frame_b via input connectors.

Position is driven by r_x, r_y (planar world frame) and the rotation angle by phi (counter clockwise).

Usage ​

MultibodyComponents.PlanarMechanics.PrescribedPose()

Connectors ​

  • frame_b - Coordinate system (2-dim.) fixed to the component with one cut-force and cut-torque.

All variables are resolved in the planar world frame. (Frame2D)

  • r_x - This connector represents a real signal as an input to a component (RealInput)

  • r_y - This connector represents a real signal as an input to a component (RealInput)

  • phi - This connector represents a real signal as an input to a component (RealInput)

Variables ​

NameDescriptionUnits
rPosition vector from world frame to frame_b, resolved in world framem
vAbsolute velocity of frame_b, resolved in world framem/s
aAbsolute acceleration of frame_b, resolved in world framem/s2

Behavior ​

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

Source ​

dyad
"""
Prescribed position and orientation of `frame_b` via input connectors.

Position is driven by `r_x`, `r_y` (planar world frame) and the rotation
angle by `phi` (counter clockwise).
"""
component PrescribedPose
  frame_b = Frame2D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 900, "y1": 450, "x2": 1000, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  r_x = RealInput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -50, "y1": 100, "x2": 50, "y2": 200, "rot": 0}
      },
      "tags": []
    }
  }
  r_y = RealInput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -50, "y1": 450, "x2": 50, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  phi = RealInput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -50, "y1": 780, "x2": 50, "y2": 880, "rot": 0}
      },
      "tags": []
    }
  }
  "Position vector from world frame to frame_b, resolved in world frame"
  variable r::Position[2]
  "Absolute velocity of frame_b, resolved in world frame"
  variable v::Velocity[2]
  "Absolute acceleration of frame_b, resolved in world frame"
  variable a::Acceleration[2]
relations
  r = [r_x, r_y]
  frame_b.x = r_x
  frame_b.y = r_y
  frame_b.phi = phi
  v = der(r)
  a = der(v)
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MultibodyComponents/PrescribedPose.svg"},
    "labels": [
      {
        "label": "$(instance)",
        "x": 500,
        "y": 150,
        "rot": 0,
        "attrs": {"font-size": "160"}
      }
    ]
  }
}
end
Flattened Source
dyad
"""
Prescribed position and orientation of `frame_b` via input connectors.

Position is driven by `r_x`, `r_y` (planar world frame) and the rotation
angle by `phi` (counter clockwise).
"""
component PrescribedPose
  frame_b = Frame2D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 900, "y1": 450, "x2": 1000, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  r_x = RealInput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -50, "y1": 100, "x2": 50, "y2": 200, "rot": 0}
      },
      "tags": []
    }
  }
  r_y = RealInput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -50, "y1": 450, "x2": 50, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  phi = RealInput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -50, "y1": 780, "x2": 50, "y2": 880, "rot": 0}
      },
      "tags": []
    }
  }
  "Position vector from world frame to frame_b, resolved in world frame"
  variable r::Position[2]
  "Absolute velocity of frame_b, resolved in world frame"
  variable v::Velocity[2]
  "Absolute acceleration of frame_b, resolved in world frame"
  variable a::Acceleration[2]
relations
  r = [r_x, r_y]
  frame_b.x = r_x
  frame_b.y = r_y
  frame_b.phi = phi
  v = der(r)
  a = der(v)
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MultibodyComponents/PrescribedPose.svg"},
    "labels": [
      {
        "label": "$(instance)",
        "x": 500,
        "y": 150,
        "rot": 0,
        "attrs": {"font-size": "160"}
      }
    ]
  }
}
end


Test Cases ​

No test cases defined.