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Kinematic PTP

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

 

Description

Connections

Parameters

See Also

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, 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 qdmax and the maximum allowed acceleration qddmax.

If several distances are given (that is, the vector, 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

δq

-

-

Distance to move

deltaq

qdmax

0

-

Maximum velocities derq

qd_max

qddmax

0

-

Maximum accelerations derqd

qdd_max

T0

0

s

Time at which movement starts

startTime

nout

max([size(δq, 1), size(qdmax, 1), size(qddmax, 1)])

 

Number of outputs

n_out

See Also

Real Signal Sources

Boolean Signal Sources

Integer Signal Sources

Signal Blocks Overview

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

 

 

 

 

 


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