modelCubicTrajectory
The outputs are three reference values for the three actuators of a Delta robot to follow a line with a cubic eqution of motion
Extends from DeltaRobot.Icons.CubicTrajectory (Icon for 'CubicTrajectory' model), PartialTrajectoryModel (This model collects all the common parameters and interfaces of the trajectory models).
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Real[3] | direction (from PartialTrajectoryModel) | normalize(stopPosition - startPosition) | Unit vector that indicates the direction of motion |
| SI.Distance | totalDistance (from PartialTrajectoryModel) | norm(stopPosition - startPosition) | Distance from initial point to final point |
| SI.Time | stopTime (from PartialTrajectoryModel) | startTime + transitionTime | output = stopPosition for time>=stopTime |
| SI.Velocity | initialSpeed | 0 | Initial platform speed (direction = stopPosition-startPosition, in base frame) |
| SI.Velocity | finalSpeed | 0 | Final platform speed (direction = stopPosition-startPosition, in base frame) |
| Position | |||
| SI.Position[3] | startPosition (from PartialTrajectoryModel) | gp.initPlatformPos | Initial platform position resolved in base frame |
| SI.Position[3] | stopPosition (from PartialTrajectoryModel) | startPosition | Final platform position resolved in base frame |
| Time | |||
| SI.Time | startTime (from PartialTrajectoryModel) | 0 | output = startPosition for time<=startTime |
| SI.Time | transitionTime (from PartialTrajectoryModel) | 1 | Time required for the motion |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Interfaces.Pose | pose (from PartialTrajectoryModel) |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| DeltaRobot.Components.GlobalParameters | gp (from PartialTrajectoryModel) | Object with all global parameters | |
| SI.Position[3] | position (from PartialTrajectoryModel) | Current position vector | |
| SI.Position | distance (from PartialTrajectoryModel) | Current distance from 'startPosition' to the current position | |
| Interfaces.PoseMux | mux (from PartialTrajectoryModel) | ||
| Modelica.Blocks.Sources.Constant | const_startTime (from PartialTrajectoryModel) | ||
| Modelica.Blocks.Sources.Constant | const_stopTime (from PartialTrajectoryModel) | ||
| SI.Velocity[3] | speed | Current speed vector | |
| SI.Acceleration[3] | acceleration | Current acceleration vector | |
| SI.Velocity | speedModule | Module of current speed vector | |
| SI.Acceleration | accelerationModule | Module of current acceleration vector |
Contents
| Name | Description |
|---|---|
| checkConstraintsprotected | Returns true if the position and velocity profiles are correct (no direction changes) |