recordActuatorParameters
Parameters of a rotatry actuator
Extends from DeltaRobot.Icons.Record (Icon for records).
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| StateSelect | stateSelect | StateSelect.prefer | Priority to use actuator angle phi and w=der(phi) as states (revolute joint model) |
| Initialization | |||
| SI.Angle | initialAngle | 0 | Initial angle |
| SI.AngularVelocity | initialAngularVel | 0 | Initial angular velocity |
| SI.AngularAcceleration | initialAngularAcc | 0 | Initial angular acceleration |
| Boolean | initialAngleFixed | false | =true, if you want to use the joint initial angle (=initialAngle) as initial equation ('fixed' attributes) |
| Boolean | initialAngularVelFixed | false | =true, if you want to use the joint initial angular velocity (=0) as initial equation ('fixed' attributes) |
| Boolean | initialAngularAccFixed | false | =true, if you want to use the joint initial angular acceleration (=0) as initial equation ('fixed' attributes) |
| First order filter | |||
| Real | Tf | 0.01 | Time constant of the first order filter applied to the input reference signal |
| Modelica.Blocks.Types.Init | initType | Modelica.Blocks.Types.Init.NoInit | Type of initialization of first order filter (1: no init, 2: steady state, 3/4: initial output) |
| Real | y_start | 0 | Initial or guess value of first order filter output (= state) |
| Boolean | y_startFixed | false | =true, if you want to use the filter initial output as initial equation |
| Limits | |||
| Boolean | enableLimiter | true | =true, if you want to limit the input reference angle within interval [minTheta, maxTheta] |
| SI.Angle | maxTheta | from_deg(85) | Max actuator angle |
| SI.Angle | minTheta | from_deg(-85) | Min actuator angle |
| Animation | |||
| SI.Distance | cylinderLength | 1/30 | Length of cylinder representing the actuator revolute joint |
| SI.Diameter | cylinderDiameter | 1/30 | Diameter of cylinder representing the actuator revolute joint |