modelAbsolutePosition

Measure absolute position and orientation of the origin of frame connector
Diagram of AbsolutePositionOpen the diagram
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Extends from Internal.PartialAbsoluteSensor (Partial absolute sensor model for sensors defined by components).

Information

The absolute position and angle vector [x y φ] of the origin of frame_a is determined and provided at the output signal connector r.

Via parameter resolveInFrame it is defined, in which frame the position vector is resolved.

Options of parameter resolveInFrame
resolveInFrame = … Output vector resolved in
Types.ResolveInFrameA.world world frame
Types.ResolveInFrameA.frame_a frame_a
Types.ResolveInFrameA.frame_resolve frame_resolve (must be connected)

If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the conditional connector frame_resolve is enabled and r is resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be connected.

Example: If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the output vector is computed as:

r =transpose([cos(frame_resolve.phi), -sin(frame_resolve.phi), 0; sin(frame_resolve.phi),cos(frame_resolve.phi), 0;0, 0, 1]) * [frame_a.x;frame_a.y;frame_a.phi] - [0;0;frame_resolve.phi]

Parameters

TypeNameDefaultDescription
Modelica.Mechanics.MultiBody.Types.ResolveInFrameAresolveInFrameModelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_aFrame in which output vector r shall be resolved (1: world, 2: frame_a, 3:frame_resolve)

Connectors

TypeNameDefaultDescription
Interfaces.Frame_aframe_a (from PartialAbsoluteSensor)Coordinate system at which the kinematic quantities are measured
Modelica.Blocks.Interfaces.RealOutput[3]rVector of absolute measurements of frame_a on position level, resolved in frame defined by resolveInFrame
Interfaces.Frame_resolveframe_resolveCoordinate system in which output vector r is optionally resolved

Revisions

DLR logo Developed 2010 at the DLR Institute of System Dynamics and Control