.PlanarMechanics.Sources.RelativeForce .PlanarMechanics.Sources.RelativeForceThe 3 signals of the force
connector contain force and torque. The first and second signal are
interpreted as the x- and y-coordinates of
a force and the third is torque, acting
between two frame connectors to which frame_a and
frame_b are attached respectively. Note that torque is
a scalar quantity, which is exerted perpendicular to the x-y
plane.
Parameter resolveInFrame defines
in which frame the input force shall be resolved.
| Types.ResolveInFrameB. | Meaning |
|---|---|
| world | Resolve input force in world frame (= default) |
| frame_a | Resolve input force in frame_a |
| frame_b | Resolve input force in frame_b |
| frame_resolve | Resolve input force in frame_resolve (frame_resolve must be connected) |
If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the force coordinates shall be resolved in the frame, which is connected to frame_resolve.
Developed 2010 at the DLR Institute of System
Dynamics and Control