Simple Inverse Kinematic Problem MapleSim Model - Simple Inverse Kinematic Problem S-Function - MapleSim Model Gallery

Simple Inverse Kinematic Problem

The example shows how to extract the constraint equations, solve them in Maple and implement the solution(s) back in MapleSim. It starts from the initial pendulum model with constrained end point (zero DOF). Using the Multibody analysis template found under the Project tab (Attachments > Documents > MultibodyAnalysis1.mw), two sets of solutions are found. These solutions are copied into a Modelica Custom Component, and with minimal editing a component is created that provides the appropriate rotation for the pendulum based on the initial pendulums position.

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Model Images
  • model image Model diagram showing the initial pendulum and new pendulums
  • results Multibody analysis template showing the equation extraction from the initial pendulum
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