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

KinematicPTP2

Move as fast as possible from start to end position within given kinematic constraints with output signals q, qd=der(q), qdd=der(qd)

Information
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NameTypeDescription
qRealOutput[nout]Reference position of path planning
qdRealOutput[nout]Reference speed of path planning
qddRealOutput[nout]Reference acceleration of path planning
movingBooleanOutput[nout]= true, if end position not yet reached; = false, if end position reached or axis is completely at rest
PARAMETERS
NameTypeDefault ValueDescription
q_beginReal{0}Start position
q_endRealEnd position
qd_maxRealMaximum velocities der(q)
qdd_maxRealMaximum accelerations der(qd)
startTimeTime0Time instant at which movement starts
noutIntegermax([size(q_begin, 1);size(q_end, 1);size(qd_max, 1);size(qdd_max, 1)])Number of output signals (= dimension of q, qd, qdd, moving)
p_q_beginReal[nout]if size(q_begin, 1) == 1 then ones(nout)*q_begin[1] else q_begin
p_q_endReal[nout]if size(q_end, 1) == 1 then ones(nout)*q_end[1] else q_end
p_qd_maxReal[nout]if size(qd_max, 1) == 1 then ones(nout)*qd_max[1] else qd_max
p_qdd_maxReal[nout]if size(qdd_max, 1) == 1 then ones(nout)*qdd_max[1] else qdd_max
p_deltaqReal[nout]p_q_end - p_q_begin
USED IN COMPONENTS
Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components.PathPlanning1
Generate reference angles for fastest kinematic movement
Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components.PathPlanning6
Generate reference angles for fastest kinematic movement