LIBRARY

MultibodyComponents

This is the documentation for the MultibodyComponents library. Here you will find the documentation for the various definitions contained in MultibodyComponents.

Note that this documentation is automatically generated primarily from the doc strings and metadata associated with those definitions.

Types

• OrientationState - Specifies the type of orientation state variables used in a component.

• PlanarMechanics.PartialTwoFrameSensor - Partial model for sensors with two frames, displayed as an analog dial gauge.

• PlanarMechanics.PartialTwoFrames - Partial model with two frames.

• Renderable

• ResolveInFrame - Specifies the coordinate frame in which force/torque inputs are resolved.

• RootedFrame - Specifies which frame of a joint carries the orientation state variables.

• Shape - Base visual shape primitive for 3D rendering.

Components

• ArrowShape - Arrow shape primitive for 3D rendering.

• BoxShape - Box shape primitive for 3D rendering.

• ConeShape - Cone shape primitive for 3D rendering.

• CylinderShape - Cylinder shape primitive for 3D rendering.

• Kinematic5 - A component emitting a 5th order polynomial trajectory.

• KinematicPTP - A component emitting a trajectory created by the point_to_point trajectory generator.

• KinematicPTPBoundedJerk - A component emitting a time-optimal point-to-point trajectory with bounded velocity,

• PlanarMechanics.AbsoluteAcceleration - Measures absolute acceleration and angular acceleration of the origin of a frame connector.

• PlanarMechanics.AbsolutePosition - Measures absolute position and orientation of the origin of a frame connector.

• PlanarMechanics.AbsoluteVelocity - Measures absolute velocity and angular velocity of the origin of a frame connector.

• PlanarMechanics.BasicAbsolutePosition - Measures absolute position and orientation resolved in a configurable frame.

• PlanarMechanics.BasicRelativePosition - Measures relative position and orientation (frame_b - frame_a) resolved in a

• PlanarMechanics.Body - Body component with mass and inertia.

• PlanarMechanics.BodyShape - Body with shape: a rigid rod (FixedTranslation) from frame_a to frame_b with a

• PlanarMechanics.CutForce - Measures the cut force between two rigidly connected frames.

• PlanarMechanics.CutTorque - Measures the cut torque between two rigidly connected frames.

• PlanarMechanics.Damper - Linear velocity-dependent damper.

• PlanarMechanics.DifferentialGear - A differential gear that distributes torque equally among two output flanges.

• PlanarMechanics.Distance - Measures the distance between the origins of two frame connectors.

• PlanarMechanics.Fixed - Frame fixed in the planar world frame at a given position and orientation.

• PlanarMechanics.FixedRotation - Fixed angular offset between two frames with no translational offset.

• PlanarMechanics.FixedTranslation - A fixed translation between two components (rigid rod).

• PlanarMechanics.FrameVisualizer2D - Visualizes a 2D frame as three colored axis cylinders (red=x, green=y, blue=z).

• PlanarMechanics.IdealPlanetary - Ideal planetary gearbox without inertia, elasticity, damping or backlash.

• PlanarMechanics.OneDOFRollingWheelJoint - An ideal rolling wheel joint constrained to move only along the x-axis without slip.

• PlanarMechanics.OneDOFSlippingWheelJoint - Simplified 1-DOF wheel joint with slip-dependent friction, constrained to the x-axis.

• PlanarMechanics.Power - Measures the mechanical power transmitted between two rigidly connected frames.

• PlanarMechanics.Prismatic - Prismatic (sliding) joint allowing translation along a fixed direction.

• PlanarMechanics.RelativeAcceleration - Measures relative acceleration and angular acceleration between the origins of two

• PlanarMechanics.RelativeForce - Relative force and torque acting between frame_a and frame_b, defined by input signals.

• PlanarMechanics.RelativePosition - Measures relative position and orientation between the origins of two frame connectors.

• PlanarMechanics.RelativeVelocity - Measures relative velocity and angular velocity between the origins of two frame connectors.

• PlanarMechanics.Revolute - Revolute joint: allows rotation about the z-axis while rigidly connecting positions.

• PlanarMechanics.SlipBasedWheelJoint - Slip-based wheel joint with slip-dependent friction characteristics.

• PlanarMechanics.Spring - Linear 2D translational spring with independent x and y stiffness.

• PlanarMechanics.SpringDamper - Linear 2D translational spring-damper with independent x, y, and phi stiffness and damping.

• PlanarMechanics.TransformAbsoluteVector - Rotates an absolute vector between frames via a two-step rotation through the

• PlanarMechanics.TransformRelativeVector - Rotates a relative vector between frames via a two-step rotation through the

• PlanarMechanics.World - The root component for all 2D planar mechanics models.

• PlanarMechanics.WorldForceTorque - External force and torque acting at frame_b, defined by input signals.

• PlanarMechanics.examples.EndEffector

• PlanarMechanics.examples.dyad_balans.Mux1

• Selector

• SphereShape - Sphere shape primitive for 3D rendering.

• SpringShape - Spring coil shape primitive for 3D rendering.

Analyses

• ParallelKinematicRobotAnalysis - short ParallelKinematicRobotAnalysis analysis description

Examples

• PlanarMechanics.examples.ParallelKinematicRobot

• PlanarMechanics.examples.PendulumTest - A free swinging pendulum.

• PlanarMechanics.examples.SlipBasedWheelTest - A slip-based wheel.

• PlanarMechanics.examples.SpringAndDamperTest - This example shows how to use a spring and a damper separately. The motion is constrained by a prismatic joint. The spring passes a point of zero length.

• PlanarMechanics.examples.SpringDamperSystemTest - This example shows how to use a spring and a damper in combination. The motion of the body is not constrained.

• PlanarMechanics.examples.TwoTrackModelTest - A double track model of a car.

• PlanarMechanics.examples.dyad_balans.DyadBalans2D - This example models a wheeled balancing robot with a cascade control system stabilizing the angle in the inner loop and the position in the outer loop.

• PlanarMechanics.examples.dyad_balans.DyadBalans2DFF - This is a continuation of the DyadBalans2D example, adding a feedforward generator computed using DyadControlSystems.feedforward_generator in the script compute_feedforward.jl. The feedforward generator provides a filtered position reference to the outer controller as well as an angle feedforward reference for the inner controller and a direct torque feedforward signal to be applied directly to the torque input. Both inner feedforward signals are connected to the u_ff port on the LimPID components.

• PlanarMechanics.examples.dyad_balans.SimpleMotor

• examples.TrajectoryPlannersTest - Example model for the Kinematic5 trajectory planner. The velocity output is

Tests

• PlanarMechanics.BodyShapePendulumTest - Pendulum with BodyShape: Fixed -> Revolute -> BodyShape.

• PlanarMechanics.CentrifugalTest - Centrifugal acceleration test: a body on a rotating arm with an AbsoluteVelocity sensor.

• PlanarMechanics.CutForceTest - Test for CutForce sensor: a damped pendulum with three CutForce sensors

• PlanarMechanics.CutTorqueTest - Test for CutTorque sensor: a damped pendulum with a CutTorque sensor, a WorldForce

• PlanarMechanics.OneDOFRollingWheelJointTest - Test for OneDOFRollingWheelJoint: a body connected to an ideal rolling wheel.

• PlanarMechanics.OneDOFSlippingWheelSegwayTest - Test for OneDOFSlippingWheelJoint: planar segway model.

• PlanarMechanics.OneDOFSlippingWheelSpinningTest - Test for OneDOFSlippingWheelJoint: a wheel spinning in place.

• PlanarMechanics.RelativeForceTest - Test for RelativeForce: a damped pendulum with an applied sinusoidal relative force.

• PlanarMechanics.SensorsTest - Sensor test with two free-falling bodies: validates all 6 sensor types.

• PlanarMechanics.WorldForceTest - Test for WorldForceTorque: a damped pendulum with an applied sinusoidal force.