Assign kinematic variables from the KinematicsSolver object as outputs
assigns as output variables the kinematic variables listed in the
ks under the names given in the
Both joint and frame variables can serve as outputs. Those that do are unknowns to solve for
and report on during analysis. Their solution is constrained by target variables and biased
toward one of equally plausible solutions, when several exist, by guess variables.
The output is an updated table with the output variables—both new and old—in rows. Each row gives the ID of a variable, the type and block path of the joint to which it belongs if a joint variable, the base and follower frames from which it spawns if a frame variable, and the unit for its numerical value. The variables rank in the order added.
Most variables can be assigned individually. A few must be assigned in groups—axis components alongside rotation angle in spherical primitives; bend angle alongside azimuth angle in constant-velocity primitives. (A bend angle can be assigned individually but the azimuth angle cannot.)
The figure shows the variables of a general
Target (T), guess (G), and
output (O) variables can be joint variables (J) or frame variables (F). The
same variable can serve as guess and output or as target and output but not as guess and
ks— Kinematics solver object
KinematicsSolver object is the representation of a Simscape
Multibody model used for kinematic analysis.
Example: ks = simscape.multibody.KinematicsSolver('sm_double_pendulum')
ids— Identifiers of kinematic variables to use