Dyad

Appearance

LIBRARY
KinematicPTP.md

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: ​

NameDescriptionUnitsDefault value
noutNumber of output axes–1
q0Initial position for each axis–fill(0.0, nout)
q1Final position for each axis–fill(1.0, nout)
qd_maxMaximum velocity for each axis–fill(1.0, nout)
qdd_maxMaximum 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 ​

julia
using MultibodyComponents #hide
using ModelingToolkit #hide
@variables q0 #hide
@variables q1 #hide
@variables qd_max #hide
@variables qdd_max #hide
@named sys = MultibodyComponents.KinematicPTP(q0=q0, q1=q1, qd_max=qd_max, qdd_max=qdd_max) #hide
let eqs = full_equations(sys); Base.length(eqs) > 25 ? nothing : eqs end #hide
<< @example-block not executed in draft mode >>

Source ​

dyad
"""
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
dyad
"""
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.

  • Examples

  • Experiments

  • Analyses