This information is part of the Modelica Standard Library maintained by the Modelica Association.

# KinematicPTP

Move as fast as possible along a distance within given kinematic constraints

CONNECTORS

CLOSE ALL
Name | Type | Description | |
---|---|---|---|

y | RealOutput[nout] | Connector of Real output signals |

PARAMETERS

Name | Type | Default Value | Description |
---|---|---|---|

nout | Integer | max([size(deltaq, 1);size(qd_max, 1);size(qdd_max, 1)]) | Number of outputs |

deltaq | Real | Distance to move | |

qd_max | Real | Maximum velocities der(q) | |

qdd_max | Real | Maximum accelerations der(qd) | |

startTime | Time | 0 | Time instant at which movement starts |

p_deltaq | Real[nout] | if size(deltaq, 1) == 1 then ones(nout)*deltaq[1] else deltaq | |

p_qd_max | Real[nout] | if size(qd_max, 1) == 1 then ones(nout)*qd_max[1] else qd_max | |

p_qdd_max | Real[nout] | if size(qdd_max, 1) == 1 then ones(nout)*qdd_max[1] else qdd_max |

USED IN EXAMPLES

Modelica.Blocks.Examples.PID_Controller Demonstrates the usage of a Continuous.LimPID controller |