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# Components | ||
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The perhaps most fundamental component is a [`Body`](@ref), this component has a single flange, `frame_a`, which is used to connect the body to other components. This component has a mass, a vector `r_cm` from `frame_a` to the center of mass, and a moment of inertia tensor `I` in the center of mass. The body can be thought of as a point mass with a moment of inertia tensor. | ||
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A mass with a shape can be modeled using a [`BodyShape`](@ref). The primary difference between a [`Body`](@ref) and a [`BodyShape`](@ref) is that the latter has an additional flange, `frame_b`, which is used to connect the body to other components. The translation between `flange_a` and `flange_b` is determined by the vector `r`. The [`BodyShape`](@ref) is suitable to model, e.g., cylinders, rods, and boxes. | ||
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A rod without a mass (just a translation), is modeled using [`FixedTranslation`](@ref). | ||
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```@index | ||
``` | ||
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```@autodocs | ||
Modules = [Multibody, Multibody.PlanarMechanics] | ||
Pages = ["components.jl", "wheels.jl", "PlanarMechanics/components.jl"] | ||
``` |
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# Forces | ||
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```@index | ||
``` | ||
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```@autodocs | ||
Modules = [Multibody, Multibody.PlanarMechanics] | ||
Pages = ["forces.jl"] | ||
``` |
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# Frames | ||
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## Docstrings | ||
```@index | ||
``` | ||
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```@autodocs | ||
Modules = [Multibody, Multibody.PlanarMechanics] | ||
Pages = ["frames.jl", "PlanarMechanics/utils.jl"] | ||
``` |
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# Interfaces | ||
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## Docstrings | ||
```@autodocs | ||
Modules = [Multibody] | ||
Pages = ["interfaces.jl"] | ||
``` |
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# Joints | ||
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A joint restricts the number of degrees of freedom (DOF) of a body. For example, a free floating body has 6 DOF, but if it is attached to a [`Revolute`](@ref) joint, the joint restricts all but one rotational degree of freedom (a revolute joint acts like a hinge). Similarily, a [`Prismatic`](@ref) joint restricts all but one translational degree of freedom (a prismatic joint acts like a slider). | ||
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A [`Spherical`](@ref) joints restricts all translational degrees of freedom, but allows all rotational degrees of freedom. It thus transmits no torque. A [`Planar`](@ref) joint moves in a plane, i.e., it restricts one translational DOF and two rotational DOF. A [`Universal`](@ref) joint has two rotational DOF. | ||
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Some joints offer the option to add 1-dimensional components to them by providing the keyword `axisflange = true`. This allows us to add, e.g., springs, dampers, sensors, and actuators to the joint. | ||
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## Docstrings | ||
```@index | ||
``` | ||
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```@autodocs | ||
Modules = [Multibody, Multibody.PlanarMechanics] | ||
Pages = ["joints.jl", "fancy_joints.jl", "PlanarMechanics/joints.jl"] | ||
``` |
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# Sensors | ||
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## Docstrings | ||
```@index | ||
``` | ||
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A sensor is an object that translates quantities in the mechanical domain into causal signals which can interact with causal components from [ModelingToolkitStandardLibrary.Blocks](https://docs.sciml.ai/ModelingToolkitStandardLibrary/stable/API/blocks/), such as control systems etc. | ||
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```@autodocs | ||
Modules = [Multibody, Multibody.PlanarMechanics] | ||
Pages = ["sensors.jl", "PlanarMechanics/sensors.jl"] | ||
``` |
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# Trajectory_planning | ||
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Two methods of planning trajectories are available | ||
- [`point_to_point`](@ref): Generate a minimum-time point-to-point trajectory with specified start and endpoints, not exceeding specified speed and acceleration limits. | ||
- [`traj5`](@ref): Generate a 5:th order polynomial trajectory with specified start and end points. Additionally allows specification of start and end values for velocity and acceleration. | ||
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Components that make use of these trajectory generators is provided: | ||
- [`KinematicPTP`](@ref) | ||
- [`Kinematic5`](@ref) | ||
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These both have output connectors of type `RealOutput` called `q, qd, qdd` for positions, velocities and accelerations. | ||
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See [Industrial robot](@ref) for an example making use of the [`point_to_point`](@ref) planner. | ||
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## Docstrings | ||
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```@index | ||
``` | ||
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```@autodocs | ||
Modules = [Multibody] | ||
Pages = ["path_planning.jl", "ptp.jl"] | ||
``` |