modelRoboter2

Parameters

Type	Name	Default	Description
Position	r1	1	Length of link 1
Position	rc1	1	Position of CM in link 1
Position	r2	1	Length of link 2
Position	rc2	1	Position of CM in link 2
Mass	m1	1	Mass of link 1
Inertia	J1	1	Inertia of link 1
Mass	m2	1	Mass of link 2
Inertia	J2	1	Inertia of link 2
Angle	theta1	0	Initial angle of joint 1
Angle	theta2	0	Initial angle of joint 2
RotationalDampingConstant	b1	0	Damping at joint 1
RotationalDampingConstant	b2	0	Damping at joint 2

Type	Name	Default	Description
Modelica.Mechanics.MultiBody.Interfaces.Frame_b	frame_b
Modelica.Blocks.Interfaces.RealInput	u2
Modelica.Blocks.Interfaces.RealInput	u1
Modelica.Blocks.Interfaces.RealOutput	y2
Modelica.Blocks.Interfaces.RealOutput	y1
PJlib.Kap17.Link	link1
PJlib.Kap17.Link	link2
Modelica.Mechanics.Rotational.Sources.Torque2	torque21
Modelica.Mechanics.Rotational.Sources.Torque2	torque22
Modelica.Mechanics.Rotational.Sensors.RelAngleSensor	relanglesensor1
Modelica.Mechanics.MultiBody.Parts.Fixed	fixed1
Modelica.Mechanics.Rotational.Sensors.RelAngleSensor	relanglesensor2
RevoluteM	revoluteM
RevoluteM	revoluteM1