Kinematic PTP

Generate an output based on the fastest possible point-to-point movement within given kinematic constraints

 Description The Kinematic PTP component generates distance, positional, or angular movement at the output, $y$, based on the trapezoid velocity kinematic profile. In robotics, such movement is called PTP (Point To Point). This source generates the acceleration, $\stackrel{..}{q}$, of this signal as output. After integrating the output twice, the position, $q$, is obtained. The signal is constructed in such a way that it is not possible to move faster, given the maximally allowed velocity, ${\stackrel{.}{q}}_{\mathrm{max}}$, and the maximum allowed acceleration, ${\stackrel{..}{q}}_{\mathrm{max}}$. If several distances are given (that is, the vector, $\Delta q$, has more than one element), an acceleration output vector is constructed such that all signals are in the same periods in the acceleration, constant velocity, and deceleration phases. This means that only one of the signals is at its limit while the others are synchronized in such a way that the end point is reached at the same time instant. This element is useful to generate a reference signal for a controller which controls a drive train or in combination with the Rotational Accelerate component to drive a flange according to a given acceleration.

Connections

 Name Description Modelica ID $y$ Real output signals y

Parameters

 Name Default Units Description Modelica ID $\Delta q$ $\left\{1\right\}$ $1$ Distance to move deltaq ${\stackrel{.}{q}}_{\mathrm{max}}$ $\left\{1\right\}$ $1$ Maximum velocities qd_max ${\stackrel{..}{q}}_{\mathrm{max}}$ $\left\{1\right\}$ $1$ Maximum accelerations qdd_max ${T}_{0}$ $0$ $s$ Time instant at which movement starts startTime

 Modelica Standard Library The component described in this topic is from the Modelica Standard Library. To view the original documentation, which includes author and copyright information, click here.