modelGlobalParameters
This model includes all parameters that are shared between the models of this library
Extends from DeltaRobot.Icons.GlobalParameters (Icon for 'GlobalParameters' model).
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| TY.RotationSequence | initSequence | {1, 2, 3} | Sequence of rotations to rotate base frame into platform frame; used to initialize the model |
| SI.Angle[3] | initAngles | {0, 0, 0} | Initial values of angles to rotate base frame around 'initSequence' axes into platform frame; used to initialize the model |
| SI.Angle[3] | initTheta | inverseKinematic(initPlatformPos, armParameters[1].L, armParameters[1].l, base.D, platform.D, base.beta) | Initial angles of the three actuators |
| SI.Angle[3,3] | parallAngles | parallelogramAngles(initPlatformPos, armParameters[1].L, armParameters[1].l, base.D, platform.D, base.beta) | Rotation angles. In sequence: around upper revolute joint, parallelogram joint, lower revolute joint |
| Base and platform | |||
| DiscParameters | base | Parameters of the base | |
| DiscParameters | platform | Parameters of the platform | |
| Initialization | |||
| SI.Position[3] | basePos | {0, 0, 0} | Vector from world frame to base.frame_a resolved in world frame |
| SI.Position[3] | initPlatformPos | {0, 0, -0.543} | Coordinates of the platform frame resolved in base frame |
| Arms | |||
| ArmParameters[3] | armParameters | {ArmParameters(computeParallelogramLength = false), ArmParameters(computeParallelogramLength = false), ArmParameters(computeParallelogramLength = false)} | Parameters of the arms |
| Actuators | |||
| Real | actuatorParameters_Tf | 0.01 | |
| ActuatorParameters[3] | actuatorParameters | {ActuatorParameters(stateSelect = StateSelect.prefer, initialAngleFixed = false, initialAngularVelFixed = false, initialAngularAccFixed = false, initialAngle = initTheta[1], Tf = actuatorParameters_Tf), ActuatorParameters(stateSelect = StateSelect.prefer, initialAngleFixed = false, initialAngularVelFixed = false, initialAngularAccFixed = false, initialAngle = initTheta[2], Tf = actuatorParameters_Tf), ActuatorParameters(stateSelect = StateSelect.prefer, initialAngleFixed = false, initialAngularVelFixed = false, initialAngularAccFixed = false, initialAngle = initTheta[3], Tf = actuatorParameters_Tf)} | Parameters of the rotary actuators |
| Reducers | |||
| ReducerParameters[3] | reducerParameters | Parameters of the gearbox reducers | |
| Servo motors | |||
| DeltaRobot.Types.ServoMotorParameters | SMparameters | Servo motors parameters | |