modelInverseKinematic

The outputs are the six leg lengths required to have the input pose
Diagram of InverseKinematic

Extends from StewartPlatform.Icons.InverseKinematic (Icon for 'InverseKinematic' model).

Parameters

TypeNameDefaultDescription
StewartPlatform.Types.DiscParametersplatformgp.platformParameters of the platform
StewartPlatform.Types.DiscParametersbasegp.baseParameters of the base
Limits
BooleanlimitOutputstrue=true, if you want to limit the outputs within [minLength,maxLength]
BooleanstopWhenSaturatedtrueWhen a saturation is detected all output signals maintain their current values until all output signals return within the limits
SI.LengthmaxLengthgp.maxLengthMax leg length
SI.LengthminLengthgp.minLengthMin leg length
Derivatives (no effects on the simulation)
SI.TimeT_velocity0.01Time constants for velocity derivative (T>0 required; T=0 is ideal derivative block)
SI.TimeT_acc0.1Time constants for acceleration derivative (T>0 required; T=0 is ideal derivative block)

Connectors

TypeNameDefaultDescription
Interfaces.PoseposeInput pose
Modelica.Blocks.Interfaces.RealOutput[6]legLengthLeg lengths for the input pose

Components

TypeNameDefaultDescription
StewartPlatform.Components.GlobalParametersgpObject with all global parameters
BooleansaturationFlag=true, when there is a saturation
SI.Velocity[6]legVelocityLeg velocities, =der(legLength)
SI.Acceleration[6]legAccelerationLeg accelerations, =der(legVelocity)