WOLFRAM SYSTEMMODELER

RelativePosition

Measure relative position vector between the origins of two frame connectors

Diagram

Wolfram Language

In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Sensors.RelativePosition"]
Out[1]:=

Information

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

The relative position vector between the origins of frame_a and frame_b are determined and provided at the output signal connector r_rel.

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

resolveInFrame =
Types.ResolveInFrameAB.
Meaning
world Resolve vector in world frame
frame_a Resolve vector in frame_a
frame_b Resolve vector in frame_b
frame_resolve Resolve vector in frame_resolve

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

Example

If resolveInFrame = Types.ResolveInFrameAB.frame_a, the output vector is computed as:

r_rel = MultiBody.Frames.resolve2(frame_a.R, frame_b.r_0 - frame_a.r_0);

Parameters (1)

resolveInFrame

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

Type: ResolveInFrameAB

Description: Frame in which output vector r_rel shall be resolved (world, frame_a, frame_b, or frame_resolve)

Connectors (4)

frame_a

Type: Frame_a

Description: Coordinate system a

frame_b

Type: Frame_b

Description: Coordinate system b

r_rel

Type: RealOutput[3]

Description: Relative position vector resolved in frame defined by resolveInFrame

frame_resolve

Type: Frame_resolve

Description: Coordinate system in which r_rel is optionally resolved

Components (2)

relativePosition

Type: BasicRelativePosition

zeroPosition

Type: ZeroPosition

Used in Components (6)

JointUSR

Modelica.Mechanics.MultiBody.Joints.Assemblies

Universal - spherical - revolute joint aggregation (no constraints, no potential states)

JointUSP

Modelica.Mechanics.MultiBody.Joints.Assemblies

Universal - spherical - prismatic joint aggregation (no constraints, no potential states)

JointSSR

Modelica.Mechanics.MultiBody.Joints.Assemblies

Spherical - spherical - revolute joint aggregation with mass (no constraints, no potential states)

JointSSP

Modelica.Mechanics.MultiBody.Joints.Assemblies

Spherical - spherical - prismatic joint aggregation with mass (no constraints, no potential states)

RelativeSensor

Modelica.Mechanics.MultiBody.Sensors

Measure relative kinematic quantities between two frame connectors

RelativeVelocity

Modelica.Mechanics.MultiBody.Sensors

Measure relative velocity vector between the origins of two frame connectors