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

PathPlanning6

Generate reference angles for fastest kinematic movement

Information
CONNECTORS
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NameTypeDescription
controlBusControlBus
PARAMETERS
NameTypeDefault ValueDescription
naxisInteger6number of driven axis
angleBegDegReal[naxis]zeros(naxis)Start angles
angleEndDegReal[naxis]ones(naxis)End angles
speedMaxAngularVelocity[naxis]fill(3, naxis)Maximum axis speed
accMaxAngularAcceleration[naxis]fill(2.5, naxis)Maximum axis acceleration
startTimeTime0Start time of movement
swingTimeTime0.5Additional time after reference motion is in rest before simulation is stopped
angleBegAngleCv.from_deg(angleBegDeg)Start angles
angleEndAngleCv.from_deg(angleEndDeg)End angles
USED IN COMPONENTS
Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.fullRobot
6 degree of freedom robot with path planning, controllers, motors, brakes, gears and mechanics