Kinematic PTP

Generates 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, $\mathrm{qdd}$, 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 ${\mathrm{qd}}_{\mathrm{max}}$ and the maximum allowed acceleration ${\mathrm{qdd}}_{\mathrm{max}}$. If several distances are given (that is, the vector, $\mathrm{δq}$, 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.

Connections

 Name Description $y$ Real output signal connection

Parameters

 Symbol Default Units Description Modelica ID $\delta q$ - - Distance to move deltaq ${\mathrm{qd}}^{}{}_{\mathrm{max}}$ 0 - Maximum velocities $\mathrm{der}\left(q\right)$ qd_max $\mathrm{qdd}{}_{\mathrm{max}}$ 0 - Maximum accelerations $\mathrm{der}\left(\mathrm{qd}\right)$ qdd_max ${T}_{0}$ $0$ $s$ Time at which movement starts startTime ${n}_{\mathrm{out}}$ max([size($\delta q$, 1), size(${\mathrm{qd}}^{}{}_{\mathrm{max}}$, 1), size($\mathrm{qdd}{}_{\mathrm{max}}$, 1)]) Number of outputs n_out