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PlanarMechanics.examples.two_joint_robot.UnknownTorqueSource.md

PlanarMechanics.examples.two_joint_robot.UnknownTorqueSource ​

Applies an a-priori unknown torque to the spline and reports it as an output. The torque magnitude carries no equation of its own: it is determined by the constraints of the surrounding model. This is the actuation side of an inverse model whose motion is prescribed elsewhere, e.g. a robot whose tool position is prescribed by a forceless PrescribedPosition while the joints are driven by UnknownTorqueSource components: the reported torques then solve the inverse dynamics of the prescribed motion.

This component extends from RotationalComponents.Interfaces.PartialTorque

Usage ​

MultibodyComponents.PlanarMechanics.examples.two_joint_robot.UnknownTorqueSource()

Connectors ​

  • spline - This connector represents a rotational spline with angle and torque as the potential and flow variables, respectively. (Spline)

  • support - This connector represents a rotational spline with angle and torque as the potential and flow variables, respectively. (Spline)

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

Variables ​

NameDescriptionUnits
phi_supportAbsolute angle of the support splinerad
phiAngle of spline with respect to support–

Behavior ​

Source ​

dyad
"Applies an a-priori unknown torque to the spline and reports it as an output. The torque magnitude carries no equation of its own: it is determined by the constraints of the surrounding model. This is the actuation side of an inverse model whose motion is prescribed elsewhere, e.g. a robot whose tool position is prescribed by a forceless PrescribedPosition while the joints are driven by UnknownTorqueSource components: the reported torques then solve the inverse dynamics of the prescribed motion."
component UnknownTorqueSource
  extends RotationalComponents.Interfaces.PartialTorque
  "Torque required to realize the motion prescribed elsewhere in the model"
  tau = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": 950, "x2": 550, "y2": 1050, "rot": 90}
      },
      "tags": []
    }
  }
relations
  spline.tau = -tau
metadata {"Dyad": {"icons": {"default": "dyad://MultibodyComponents/Torque.svg"}}}
end
Flattened Source
dyad
"Applies an a-priori unknown torque to the spline and reports it as an output. The torque magnitude carries no equation of its own: it is determined by the constraints of the surrounding model. This is the actuation side of an inverse model whose motion is prescribed elsewhere, e.g. a robot whose tool position is prescribed by a forceless PrescribedPosition while the joints are driven by UnknownTorqueSource components: the reported torques then solve the inverse dynamics of the prescribed motion."
component UnknownTorqueSource
  "Primary rotational shaft spline connector"
  spline = Spline() {"Dyad": {"placement": {"icon": {"x1": 950, "y1": 450, "x2": 1050, "y2": 550}}}}
  "Support spline connector"
  support = Spline() {
    "Dyad": {
      "placement": {"icon": {"iconName": "support", "x1": 450, "y1": 950, "x2": 550, "y2": 1050}}
    }
  }
  "Absolute angle of the support spline"
  variable phi_support::Angle
  "Angle of spline with respect to support"
  variable phi::Real
  "Torque required to realize the motion prescribed elsewhere in the model"
  tau = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": 950, "x2": 550, "y2": 1050, "rot": 90}
      },
      "tags": []
    }
  }
relations
  support.phi = phi_support
  support.tau = -spline.tau
  phi = spline.phi - phi_support
  spline.tau = -tau
metadata {"Dyad": {"icons": {"default": "dyad://MultibodyComponents/Torque.svg"}}}
end


Test Cases ​

No test cases defined.

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