WOLFRAM SYSTEMMODELER

AbsoluteSensor

Measure absolute kinematic quantities of frame connector

Diagram

Wolfram Language

In[1]:=
Click for copyable input
SystemModel["Modelica.Mechanics.MultiBody.Sensors.AbsoluteSensor"]
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Information

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

Absolute kinematic quantities of frame_a are determined and provided at the conditional output signal connectors. For example, if parameter "get_r = true", the connector "r" is enabled and contains the absolute vector from the world frame to the origin of frame_a. The following quantities can be provided as output signals:

  1. Absolute position vector (= r)
  2. Absolute velocity vector (= v)
  3. Absolute acceleration vector (= a)
  4. Three angles to rotate world frame into frame_a (= angles)
  5. Absolute angular velocity vector (= w)
  6. Absolute angular acceleration vector (= z)

Via parameter resolveInFrame it is defined, in which frame a vector is resolved:

resolveInFrame =
Types.ResolveInFrameA.
Meaning
world Resolve vectors in world frame
frame_a Resolve vectors in frame_a
frame_resolve Resolve vectors in frame_resolve

If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the conditional connector "frame_resolve" is enabled and the vectors are resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be connected.

In the following figure the animation of an AbsoluteSensor component is shown. The light blue coordinate system is frame_a and the yellow arrow is the animated sensor.

Velocity, acceleration, angular velocity and angular acceleration are determined by differentiating them in the world frame and then transforming them in to the frame defined by resolveInFrame.

For example, if resolveInFrame = Types.ResolveInFrameA.frame_a, then

   v0 = der(frame_a.r0);
   v  = resolve2(frame_a.R, v0);

is returned, i.e., the derivative of the absolute distance from the world frame to the origin of frame_a, resolved in frame_a.

The cut-force and the cut-torque in frame_resolve are always zero, whether frame_resolve is connected or not.

If get_angles = true, the 3 angles to rotate the world frame into frame_a along the axes defined by parameter sequence are returned. For example, if sequence = {3,1,2} then the world frame is rotated around angles[1] along the z-axis, afterwards it is rotated around angles[2] along the x-axis, and finally it is rotated around angles[3] along the y-axis and is then identical to frame_a. The 3 angles are returned in the range

    -p <= angles[i] <= p

There are two solutions for "angles[1]" in this range. Via parameter guessAngle1 (default = 0) the returned solution is selected such that |angles[1] - guessAngle1| is minimal. The absolute transformation matrix of frame_a may be in a singular configuration with respect to "sequence", i.e., there is an infinite number of angle values leading to the same absolute transformation matrix. In this case, the returned solution is selected by setting angles[1] = guessAngle1. Then angles[2] and angles[3] can be uniquely determined in the above range.

The parameter sequence has the restriction that only values 1,2,3 can be used and that sequence[1] ≠ sequence[2] and sequence[2] ≠ sequence[3]. Often used values are:

  sequence = {1,2,3}  // Cardan or Tait-Bryan angle sequence
           = {3,1,3}  // Euler angle sequence
           = {3,2,1}

Connectors (8)

frame_a

Type: Frame_a

Description: Coordinate system at which the kinematic quantities are measured

r

Type: RealOutput[3]

Description: Absolute position vector frame_a.r_0 resolved in frame defined by resolveInFrame

v

Type: RealOutput[3]

Description: Absolute velocity vector

a

Type: RealOutput[3]

Description: Absolute acceleration vector

angles

Type: RealOutput[3]

Description: Angles to rotate world frame into frame_a via 'sequence'

w

Type: RealOutput[3]

Description: Absolute angular velocity vector

z

Type: RealOutput[3]

Description: Absolute angular acceleration vector

frame_resolve

Type: Frame_resolve

Description: If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the output signals are resolved in this frame

Parameters (10)

animation

Value: true

Type: Boolean

Description: = true, if animation shall be enabled (show arrow)

resolveInFrame

Value: Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a

Type: ResolveInFrameA

Description: Frame in which vectors are resolved (world, frame_a, or frame_resolve)

get_r

Value: false

Type: Boolean

Description: = true, to measure the absolute position vector of the origin of frame_a

get_v

Value: false

Type: Boolean

Description: = true, to measure the absolute velocity of the origin of frame_a

get_a

Value: false

Type: Boolean

Description: = true, to measure the absolute acceleration of the origin of frame_a

get_w

Value: false

Type: Boolean

Description: = true, to measure the absolute angular velocity of frame_a

get_z

Value: false

Type: Boolean

Description: = true, to measure the absolute angular acceleration of frame_a

get_angles

Value: false

Type: Boolean

Description: = true, to measure the 3 rotation angles

sequence

Value: {1, 2, 3}

Type: RotationSequence

Description: If get_angles=true: Angles are returned to rotate world frame around axes sequence[1], sequence[2] and finally sequence[3] into frame_a

guessAngle1

Value: 0

Type: Angle (rad)

Description: If get_angles=true: Select angles[1] such that abs(angles[1] - guessAngle1) is a minimum

Components (14)

position

Type: AbsolutePosition

Description:

velocity

Type: AbsoluteVelocity

Description:

absoluteAngles

Type: AbsoluteAngles

Description:

angularVelocity

Type: AbsoluteAngularVelocity

Description:

der1

Type: Der[3]

Description:

der2

Type: Der[3]

Description:

transformVector_a

Type: TransformAbsoluteVector

Description:

transformVector_z

Type: TransformAbsoluteVector

Description:

world

Type: World

Description:

arrow

Type: Arrow

Description:

absoluteVelocity

Type: AbsoluteVelocity

Description:

absoluteAngularVelocity

Type: AbsoluteAngularVelocity

Description:

zeroForce1

Type: ZeroForceAndTorque

Description:

zeroForce2

Type: ZeroForceAndTorque

Description: