modelRobot

Diagram of Robot

Extends from Modelica.Mechanics.MultiBody.Interfaces.PartialOneFrame_a (Base model for components providing one frame_a connector + outer world + assert to guarantee that the component is connected), URDFModelica.Icons.StationaryRobotIcon.

Parameters

TypeNameDefaultDescription
URDFModelica.Records.RobotrobotParams
BooleanenableCollisionfalse
BooleanenableInertialtrue
BooleanshowLinkFramestrue
IntegernumAxesrobotParams.numAxes
IntegernLsize(robotParams.link, 1)
IntegernJsize(robotParams.joint, 1)
IntegerbLFunctions.getBaseLink(cM)
IntegertLFunctions.getToolLink(cM)

Connectors

TypeNameDefaultDescription
Interfaces.Frame_aframe_a (from PartialOneFrame_a)Coordinate system fixed to the component with one cut-force and cut-torque
Modelica.Mechanics.Rotational.Interfaces.Flange_a[numAxes]flange_a
Modelica.Mechanics.MultiBody.Interfaces.Frame_b[nL]frame_b
Modelica.Mechanics.MultiBody.Interfaces.Frame_bframe_tool