KinematicPTP
Move as fast as possible along a distance within given kinematic constraints
Library
Modelica/Blocks/Sources
Description
The goal is to move as fast as possible along a distancedeltaqunder given kinematical constraints. The distance can be a positional orangular range. In robotics such a movement is called PTP (Point-To-Point).This source block generates the acceleration qdd of this signalas output:
After integrating the output two times, the position q isobtained. The signal is constructed in such a way that it is not possibleto move faster, given the maximally allowed velocity qd_max andthe maximally allowed acceleration qdd_max.
If several distances are given (vector deltaq has more than 1 element),an acceleration output vector is constructed such that all signalsare in the same periods in the acceleration, constant velocityand deceleration phase. This means that only one of the signalsis at its limits whereas the others are synchronized in such a waythat the end point is reached at the same time instant.
This element is useful to generate a reference signal for a controllerwhich controls a drive train or in combination with modelModelica.Mechanics.Rotational.Accelerate to drivea flange according to a given acceleration.
Parameters
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_deltaq | deltaq | Distance to move | Vector | |
mo_qd_max | qd_max | Maximum velocities der(q) | Vector | |
mo_qdd_max | qdd_max | Maximum accelerations der(qd) | Vector | |
mo_startTime | startTime | Time instant at which movement starts | Scalar | |
mo_nout | nout | Number of outputs | Scalar | |
mo_p_deltaq | p_deltaq | Vector | ||
mo_p_qd_max | p_qd_max | Vector | ||
mo_p_qdd_max | p_qdd_max | Vector |
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo__nmodifiers | Number of Modifiers | Specifies the number of modifiers | Number | |
mo__modifiers | Modifiers | Add new modifier | Structure | |
mo__modifiers/varname | Variable name | Cell of strings | 'sd_max' | |
mo__modifiers/attribute | Attribute | Cell of strings | 'start' | |
mo__modifiers/value | Value |
Ports
| Name | Type | Description | IO Type | Number |
|---|---|---|---|---|
y | implicit | Connector of Real output signals | output | 1 |