modelBacklash
Implementing the behavior of a backlash using a 'stiff spring'
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Angle | phi1_init | 0 | |
| Angle | phi2_init | 0 | |
| AngularVelocity | omega1_init | 5 | |
| AngularVelocity | omega2_init | 0 | |
| Angle | b | 0.5 | Total backlash angle |
| Inertia | J1 | 0.4 | |
| Inertia | J2 | 1.0 | |
| Stiffness | c1 | 11 | |
| Stiffness | c2 | 5 | |
| Stiffness | kb | 1000 | |
| Damping | d1 | 0.2 | |
| Damping | d2 | 1.0 |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Angle | phi1 | ||
| Angle | phi2 | ||
| Angle | dphi | phi2 - phi1 | |
| AngularVelocity | omega1 | ||
| AngularVelocity | omega2 |
Contents
| Name | Description |
|---|---|
| Angle | |
| AngularVelocity | |
| Inertia | |
| Stiffness | |
| Damping |