Modelica.Mechanics.MultiBody.Sensors.Internal

Internal package, should not be used by user

Package Content

Name Description

PartialAbsoluteSensor Partial absolute sensor model for sensors defined by components

PartialAbsoluteBaseSensor Partial absolute sensor models for sensors defined by equations (frame_resolve must be connected exactly once)

PartialRelativeSensor Partial relative sensor model for sensors defined by components

PartialRelativeBaseSensor Partial relative sensor models for sensors defined by equations (frame_resolve must be connected exactly once)

BasicAbsolutePosition Measure absolute position vector (same as Sensors.AbsolutePosition, but frame_resolve is not conditional and must be connected)

BasicAbsoluteAngularVelocity Measure absolute angular velocity

BasicRelativePosition Measure relative position vector (same as Sensors.RelativePosition, but frame_resolve is not conditional and must be connected)

BasicRelativeAngularVelocity Measure relative angular velocity

BasicTransformAbsoluteVector Transform absolute vector in to another frame

BasicTransformRelativeVector Transform relative vector in to another frame

ZeroForceAndTorque Set force and torque to zero

PartialCutForceSensor Base model to measure the cut force and/or torque between two frames, defined by components

PartialCutForceBaseSensor Base model to measure the cut force and/or torque between two frames, defined by equations (frame_resolve must be connected exactly once)

BasicCutForce Measure cut force vector (frame_resolve must be connected)

BasicCutTorque Measure cut torque vector (frame_resolve must be connected)

Name	Description
PartialAbsoluteSensor	Partial absolute sensor model for sensors defined by components
PartialAbsoluteBaseSensor	Partial absolute sensor models for sensors defined by equations (frame_resolve must be connected exactly once)
PartialRelativeSensor	Partial relative sensor model for sensors defined by components
PartialRelativeBaseSensor	Partial relative sensor models for sensors defined by equations (frame_resolve must be connected exactly once)
BasicAbsolutePosition	Measure absolute position vector (same as Sensors.AbsolutePosition, but frame_resolve is not conditional and must be connected)
BasicAbsoluteAngularVelocity	Measure absolute angular velocity
BasicRelativePosition	Measure relative position vector (same as Sensors.RelativePosition, but frame_resolve is not conditional and must be connected)
BasicRelativeAngularVelocity	Measure relative angular velocity
BasicTransformAbsoluteVector	Transform absolute vector in to another frame
BasicTransformRelativeVector	Transform relative vector in to another frame
ZeroForceAndTorque	Set force and torque to zero
PartialCutForceSensor	Base model to measure the cut force and/or torque between two frames, defined by components
PartialCutForceBaseSensor	Base model to measure the cut force and/or torque between two frames, defined by equations (frame_resolve must be connected exactly once)
BasicCutForce	Measure cut force vector (frame_resolve must be connected)
BasicCutTorque	Measure cut torque vector (frame_resolve must be connected)

Modelica.Mechanics.MultiBody.Sensors.Internal.PartialAbsoluteSensor

Partial absolute sensor model for sensors defined by components

Modelica.Mechanics.MultiBody.Sensors.Internal.PartialAbsoluteSensor

Information

Extends from Modelica.Icons.RotationalSensor (Icon representing rotational measurement device).

Connectors

Type Name Description

Frame_a frame_a Coordinate system at which the kinematic quantities are measured

Type	Name	Description
Frame_a	frame_a	Coordinate system at which the kinematic quantities are measured

Modelica definition

partial model PartialAbsoluteSensor 
  "Partial absolute sensor model for sensors defined by components"
  extends Modelica.Icons.RotationalSensor;

  Modelica.Mechanics.MultiBody.Interfaces.Frame_a frame_a 
    "Coordinate system at which the kinematic quantities are measured";

equation 
   assert(cardinality(frame_a) > 0, "Connector frame_a must be connected at least once");
end PartialAbsoluteSensor;

Modelica.Mechanics.MultiBody.Sensors.Internal.PartialAbsoluteBaseSensor

Partial absolute sensor models for sensors defined by equations (frame_resolve must be connected exactly once)

Modelica.Mechanics.MultiBody.Sensors.Internal.PartialAbsoluteBaseSensor

Information

Extends from Modelica.Icons.RotationalSensor (Icon representing rotational measurement device).

Connectors

Type Name Description

Frame_a frame_a Coordinate system from which kinematic quantities are measured

Frame_resolve frame_resolve Coordinate system in which vector is optionally resolved

Type	Name	Description
Frame_a	frame_a	Coordinate system from which kinematic quantities are measured
Frame_resolve	frame_resolve	Coordinate system in which vector is optionally resolved

Modelica definition

model PartialAbsoluteBaseSensor 
  "Partial absolute sensor models for sensors defined by equations (frame_resolve must be connected exactly once)"
  extends Modelica.Icons.RotationalSensor;

  Modelica.Mechanics.MultiBody.Interfaces.Frame_a frame_a 
    "Coordinate system from which kinematic quantities are measured";

  Modelica.Mechanics.MultiBody.Interfaces.Frame_resolve frame_resolve 
    "Coordinate system in which vector is optionally resolved";

equation 
   assert(cardinality(frame_a) > 0, "Connector frame_a must be connected at least once");
   assert(cardinality(frame_resolve) == 1, "Connector frame_resolve must be connected exactly once");
   frame_a.f = zeros(3);
   frame_a.t = zeros(3);
   frame_resolve.f = zeros(3);
   frame_resolve.t = zeros(3);
end PartialAbsoluteBaseSensor;

Modelica.Mechanics.MultiBody.Sensors.Internal.PartialRelativeSensor

Partial relative sensor model for sensors defined by components

Modelica.Mechanics.MultiBody.Sensors.Internal.PartialRelativeSensor

Information

Extends from Modelica.Icons.RotationalSensor (Icon representing rotational measurement device).

Connectors

Type Name Description

Frame_a frame_a Coordinate system a

Frame_b frame_b Coordinate system b

Type	Name	Description
Frame_a	frame_a	Coordinate system a
Frame_b	frame_b	Coordinate system b

Modelica definition

partial model PartialRelativeSensor 
  "Partial relative sensor model for sensors defined by components"
  extends Modelica.Icons.RotationalSensor;

  Modelica.Mechanics.MultiBody.Interfaces.Frame_a frame_a "Coordinate system a";
  Modelica.Mechanics.MultiBody.Interfaces.Frame_b frame_b "Coordinate system b";

equation 
   assert(cardinality(frame_a) > 0, "Connector frame_a must be connected at least once");
   assert(cardinality(frame_b) > 0, "Connector frame_b must be connected at least once");
end PartialRelativeSensor;

Modelica.Mechanics.MultiBody.Sensors.Internal.PartialRelativeBaseSensor

Partial relative sensor models for sensors defined by equations (frame_resolve must be connected exactly once)

Modelica.Mechanics.MultiBody.Sensors.Internal.PartialRelativeBaseSensor

Information

Extends from Modelica.Icons.RotationalSensor (Icon representing rotational measurement device).

Connectors

Type	Name	Description
Frame_a	frame_a	Coordinate system a (measurement is between frame_a and frame_b)
Frame_b	frame_b	Coordinate system b (measurement is between frame_a and frame_b)
Frame_resolve	frame_resolve	Coordinate system in which vector is optionally resolved

Modelica definition

model PartialRelativeBaseSensor 
  "Partial relative sensor models for sensors defined by equations (frame_resolve must be connected exactly once)"
  extends Modelica.Icons.RotationalSensor;

  Modelica.Mechanics.MultiBody.Interfaces.Frame_a frame_a 
    "Coordinate system a (measurement is between frame_a and frame_b)";
  Modelica.Mechanics.MultiBody.Interfaces.Frame_b frame_b 
    "Coordinate system b (measurement is between frame_a and frame_b)";

  Modelica.Mechanics.MultiBody.Interfaces.Frame_resolve frame_resolve 
    "Coordinate system in which vector is optionally resolved";

equation 
   assert(cardinality(frame_a) > 0, "Connector frame_a must be connected at least once");
   assert(cardinality(frame_b) > 0, "Connector frame_b must be connected at least once");
   assert(cardinality(frame_resolve) == 1, "Connector frame_resolve must be connected exactly once");
   frame_a.f = zeros(3);
   frame_a.t = zeros(3);
   frame_b.f = zeros(3);
   frame_b.t = zeros(3);
   frame_resolve.f = zeros(3);
   frame_resolve.t = zeros(3);
end PartialRelativeBaseSensor;

Modelica.Mechanics.MultiBody.Sensors.Internal.BasicAbsolutePosition

Measure absolute position vector (same as Sensors.AbsolutePosition, but frame_resolve is not conditional and must be connected)

Modelica.Mechanics.MultiBody.Sensors.Internal.BasicAbsolutePosition

Information

Extends from Modelica.Mechanics.MultiBody.Sensors.Internal.PartialAbsoluteBaseSensor (Partial absolute sensor models for sensors defined by equations (frame_resolve must be connected exactly once)).

Parameters

Type Name Default Description

ResolveInFrameA resolveInFrame Modelica.Mechanics.MultiBody... Frame in which output vector r is resolved (1: world, 2: frame_a, 3: frame_resolve)

Type	Name	Default	Description
ResolveInFrameA	resolveInFrame	Modelica.Mechanics.MultiBody...	Frame in which output vector r is resolved (1: world, 2: frame_a, 3: frame_resolve)

Connectors

Type Name Description

Frame_a frame_a Coordinate system from which kinematic quantities are measured

Frame_resolve frame_resolve Coordinate system in which vector is optionally resolved

output RealOutput r[3] Absolute position vector frame_a.r_0 resolved in frame defined by resolveInFrame [m]

Type	Name	Description
Frame_a	frame_a	Coordinate system from which kinematic quantities are measured
Frame_resolve	frame_resolve	Coordinate system in which vector is optionally resolved
output RealOutput	r[3]	Absolute position vector frame_a.r_0 resolved in frame defined by resolveInFrame [m]

Modelica definition

model BasicAbsolutePosition 
  "Measure absolute position vector (same as Sensors.AbsolutePosition, but frame_resolve is not conditional and must be connected)"
  import Modelica.Mechanics.MultiBody.Types.ResolveInFrameA;
  extends Modelica.Mechanics.MultiBody.Sensors.Internal.PartialAbsoluteBaseSensor;
  Modelica.Blocks.Interfaces.RealOutput r[3](each final quantity="Position", each 
      final unit = "m") 
    "Absolute position vector frame_a.r_0 resolved in frame defined by resolveInFrame";

  parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrameA resolveInFrame=
  Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a 
    "Frame in which output vector r is resolved (1: world, 2: frame_a, 3: frame_resolve)";

equation 
   if resolveInFrame == ResolveInFrameA.world then
      r = frame_a.r_0;
   elseif resolveInFrame == ResolveInFrameA.frame_a then
      r = Frames.resolve2(frame_a.R, frame_a.r_0);
   elseif resolveInFrame == ResolveInFrameA.frame_resolve then
      r = Frames.resolve2(frame_resolve.R, frame_a.r_0);
   else
      assert(false, "Wrong value for parameter resolveInFrame");
      r = zeros(3);
   end if;
end BasicAbsolutePosition;

Modelica.Mechanics.MultiBody.Sensors.Internal.BasicAbsoluteAngularVelocity

Measure absolute angular velocity

Modelica.Mechanics.MultiBody.Sensors.Internal.BasicAbsoluteAngularVelocity

Information

Extends from Modelica.Mechanics.MultiBody.Sensors.Internal.PartialAbsoluteBaseSensor (Partial absolute sensor models for sensors defined by equations (frame_resolve must be connected exactly once)).

Parameters

Type Name Default Description

ResolveInFrameA resolveInFrame Modelica.Mechanics.MultiBody... Frame in which output vector w is resolved (1: world, 2: frame_a, 3: frame_resolve)

Type	Name	Default	Description
ResolveInFrameA	resolveInFrame	Modelica.Mechanics.MultiBody...	Frame in which output vector w is resolved (1: world, 2: frame_a, 3: frame_resolve)

Connectors

Type	Name	Description
Frame_a	frame_a	Coordinate system from which kinematic quantities are measured
Frame_resolve	frame_resolve	Coordinate system in which vector is optionally resolved
output RealOutput	w[3]	Absolute angular velocity vector [rad/s]

Modelica definition

model BasicAbsoluteAngularVelocity 
  "Measure absolute angular velocity"
  import Modelica.Mechanics.MultiBody.Frames;
  import Modelica.Mechanics.MultiBody.Types.ResolveInFrameA;

  extends Modelica.Mechanics.MultiBody.Sensors.Internal.PartialAbsoluteBaseSensor;
  Modelica.Blocks.Interfaces.RealOutput w[3](final quantity="AngularVelocity",final unit = "rad/s") 
    "Absolute angular velocity vector";
  parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrameA resolveInFrame=
  Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a 
    "Frame in which output vector w is resolved (1: world, 2: frame_a, 3: frame_resolve)";

equation 
   if resolveInFrame == ResolveInFrameA.world then
      w = Frames.angularVelocity1(frame_a.R);
   elseif resolveInFrame == ResolveInFrameA.frame_a then
      w = Frames.angularVelocity2(frame_a.R);
   elseif resolveInFrame == ResolveInFrameA.frame_resolve then
      w = Frames.resolveRelative(Frames.angularVelocity1(frame_a.R), frame_a.R, frame_resolve.R);
   else
      assert(false, "Wrong value for parameter resolveInFrame");
      w = zeros(3);
   end if;
end BasicAbsoluteAngularVelocity;

Modelica.Mechanics.MultiBody.Sensors.Internal.BasicRelativePosition

Measure relative position vector (same as Sensors.RelativePosition, but frame_resolve is not conditional and must be connected)

Modelica.Mechanics.MultiBody.Sensors.Internal.BasicRelativePosition

Information

Extends from Modelica.Mechanics.MultiBody.Sensors.Internal.PartialRelativeBaseSensor (Partial relative sensor models for sensors defined by equations (frame_resolve must be connected exactly once)).

Parameters

Type Name Default Description

ResolveInFrameAB resolveInFrame Modelica.Mechanics.MultiBody... Frame in which output vector r_rel is resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)

Type	Name	Default	Description
ResolveInFrameAB	resolveInFrame	Modelica.Mechanics.MultiBody...	Frame in which output vector r_rel is resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)

Connectors

Type Name Description

Frame_a frame_a Coordinate system a (measurement is between frame_a and frame_b)

Frame_b frame_b Coordinate system b (measurement is between frame_a and frame_b)

Frame_resolve frame_resolve Coordinate system in which vector is optionally resolved

output RealOutput r_rel[3] Relative position vector frame_b.r_0 - frame_a.r_0 resolved in frame defined by resolveInFrame [m]

Type	Name	Description
Frame_a	frame_a	Coordinate system a (measurement is between frame_a and frame_b)
Frame_b	frame_b	Coordinate system b (measurement is between frame_a and frame_b)
Frame_resolve	frame_resolve	Coordinate system in which vector is optionally resolved
output RealOutput	r_rel[3]	Relative position vector frame_b.r_0 - frame_a.r_0 resolved in frame defined by resolveInFrame [m]

Modelica definition

model BasicRelativePosition 
  "Measure relative position vector (same as Sensors.RelativePosition, but frame_resolve is not conditional and must be connected)"
  import Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB;
  extends Modelica.Mechanics.MultiBody.Sensors.Internal.PartialRelativeBaseSensor;
  Modelica.Blocks.Interfaces.RealOutput r_rel[3](each final quantity="Position", each 
      final unit = "m") 
    "Relative position vector frame_b.r_0 - frame_a.r_0 resolved in frame defined by resolveInFrame";
    

  parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB resolveInFrame=
  Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_a 
    "Frame in which output vector r_rel is resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)";

equation 
   if resolveInFrame == ResolveInFrameAB.frame_a then
      r_rel = Frames.resolve2(frame_a.R, frame_b.r_0 - frame_a.r_0);
   elseif resolveInFrame == ResolveInFrameAB.frame_b then
      r_rel = Frames.resolve2(frame_b.R, frame_b.r_0 - frame_a.r_0);
   elseif resolveInFrame == ResolveInFrameAB.world then
      r_rel = frame_b.r_0 - frame_a.r_0;
   elseif resolveInFrame == ResolveInFrameAB.frame_resolve then
      r_rel = Frames.resolve2(frame_resolve.R, frame_b.r_0 - frame_a.r_0);
   else
      assert(false, "Wrong value for parameter resolveInFrame");
      r_rel = zeros(3);
   end if;
end BasicRelativePosition;

Modelica.Mechanics.MultiBody.Sensors.Internal.BasicRelativeAngularVelocity

Measure relative angular velocity

Modelica.Mechanics.MultiBody.Sensors.Internal.BasicRelativeAngularVelocity

Information

Extends from Modelica.Mechanics.MultiBody.Sensors.Internal.PartialRelativeBaseSensor (Partial relative sensor models for sensors defined by equations (frame_resolve must be connected exactly once)).

Parameters

Type Name Default Description

ResolveInFrameAB resolveInFrame Modelica.Mechanics.MultiBody... Frame in which output vector w_rel is resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)

Type	Name	Default	Description
ResolveInFrameAB	resolveInFrame	Modelica.Mechanics.MultiBody...	Frame in which output vector w_rel is resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)

Connectors

Type	Name	Description
Frame_a	frame_a	Coordinate system a (measurement is between frame_a and frame_b)
Frame_b	frame_b	Coordinate system b (measurement is between frame_a and frame_b)
Frame_resolve	frame_resolve	Coordinate system in which vector is optionally resolved
output RealOutput	w_rel[3]	Relative angular velocity vector [rad/s]

Modelica definition

model BasicRelativeAngularVelocity 
  "Measure relative angular velocity"
  import Modelica.Mechanics.MultiBody.Frames;
  import Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB;

  extends Modelica.Mechanics.MultiBody.Sensors.Internal.PartialRelativeBaseSensor;
  Modelica.Blocks.Interfaces.RealOutput w_rel[3](final quantity="AngularVelocity",final unit = "rad/s") 
    "Relative angular velocity vector";
  parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB resolveInFrame=
  Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_a 
    "Frame in which output vector w_rel is resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)";

protected 
  Modelica.Mechanics.MultiBody.Frames.Orientation R_rel 
    "Relative orientation object from frame_a to frame_b";
equation 
   R_rel = Frames.relativeRotation(frame_a.R, frame_b.R);
   if resolveInFrame == ResolveInFrameAB.frame_a then
      w_rel = Frames.angularVelocity1(R_rel);
   elseif resolveInFrame == ResolveInFrameAB.frame_b then
      w_rel = Frames.angularVelocity2(R_rel);
   elseif resolveInFrame == ResolveInFrameAB.world then
      w_rel = Frames.resolve1(frame_a.R, Frames.angularVelocity1(R_rel));
   elseif resolveInFrame == ResolveInFrameAB.frame_resolve then
      w_rel = Frames.resolveRelative(Frames.angularVelocity1(R_rel), frame_a.R, frame_resolve.R);
   else
      assert(false, "Wrong value for parameter resolveInFrame");
      w_rel = zeros(3);
   end if;
end BasicRelativeAngularVelocity;

Modelica.Mechanics.MultiBody.Sensors.Internal.BasicTransformAbsoluteVector

Transform absolute vector in to another frame

Modelica.Mechanics.MultiBody.Sensors.Internal.BasicTransformAbsoluteVector

Information

Extends from Modelica.Icons.RotationalSensor (Icon representing rotational measurement device).

Parameters

Type Name Default Description

ResolveInFrameA frame_r_in Modelica.Mechanics.MultiBody... Frame in which vector r_in is resolved (1: world, 2: frame_a, 3: frame_resolve)

ResolveInFrameA frame_r_out frame_r_in Frame in which vector r_out (= r_in in other frame) is resolved (1: world, 2: frame_a, 3: frame_resolve)

Type	Name	Default	Description
ResolveInFrameA	frame_r_in	Modelica.Mechanics.MultiBody...	Frame in which vector r_in is resolved (1: world, 2: frame_a, 3: frame_resolve)
ResolveInFrameA	frame_r_out	frame_r_in	Frame in which vector r_out (= r_in in other frame) is resolved (1: world, 2: frame_a, 3: frame_resolve)

Connectors

Type Name Description

Frame_a frame_a Coordinate system from which absolute kinematic quantities are measured

Frame_resolve frame_resolve Coordinate system in which vector is optionally resolved

input RealInput r_in[3] Input vector resolved in frame defined by frame_r_in

output RealOutput r_out[3] Input vector r_in resolved in frame defined by frame_r_out

Type	Name	Description
Frame_a	frame_a	Coordinate system from which absolute kinematic quantities are measured
Frame_resolve	frame_resolve	Coordinate system in which vector is optionally resolved
input RealInput	r_in[3]	Input vector resolved in frame defined by frame_r_in
output RealOutput	r_out[3]	Input vector r_in resolved in frame defined by frame_r_out

Modelica definition

model BasicTransformAbsoluteVector 
  "Transform absolute vector in to another frame"
  import Modelica.Mechanics.MultiBody.Frames;
  import Modelica.Mechanics.MultiBody.Types.ResolveInFrameA;

  extends Modelica.Icons.RotationalSensor;

  parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrameA frame_r_in=
  Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a 
    "Frame in which vector r_in is resolved (1: world, 2: frame_a, 3: frame_resolve)";
  parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrameA frame_r_out=
                  frame_r_in 
    "Frame in which vector r_out (= r_in in other frame) is resolved (1: world, 2: frame_a, 3: frame_resolve)";

  Modelica.Mechanics.MultiBody.Interfaces.Frame_a frame_a 
    "Coordinate system from which absolute kinematic quantities are measured";

  Modelica.Mechanics.MultiBody.Interfaces.Frame_resolve frame_resolve 
    "Coordinate system in which vector is optionally resolved";

  Blocks.Interfaces.RealInput r_in[3] 
    "Input vector resolved in frame defined by frame_r_in";
  Blocks.Interfaces.RealOutput r_out[3] 
    "Input vector r_in resolved in frame defined by frame_r_out";

protected 
  Modelica.Mechanics.MultiBody.Frames.Orientation R1 
    "Orientation object from world frame to frame in which r_in is resolved";
equation 
   assert(cardinality(frame_a) > 0, "Connector frame_a must be connected at least once");
   assert(cardinality(frame_resolve) == 1, "Connector frame_resolve must be connected exactly once");
   frame_a.f = zeros(3);
   frame_a.t = zeros(3);
   frame_resolve.f = zeros(3);
   frame_resolve.t = zeros(3);

   if frame_r_out == frame_r_in then
      r_out = r_in;
      R1 = Frames.nullRotation();
   else
      if frame_r_in == ResolveInFrameA.world then
         R1 = Frames.nullRotation();
      elseif frame_r_in == ResolveInFrameA.frame_a then
         R1 = frame_a.R;
      elseif frame_r_in == ResolveInFrameA.frame_resolve then
         R1 = frame_resolve.R;
      else
         assert(false, "Wrong value for parameter frame_r_in");
         R1 = Frames.nullRotation();
      end if;

      if frame_r_out == ResolveInFrameA.world then
         r_out = Frames.resolve1(R1, r_in);
      elseif frame_r_out == ResolveInFrameA.frame_a then
         r_out = Frames.resolveRelative(r_in, R1, frame_a.R);
      elseif frame_r_out == ResolveInFrameA.frame_resolve then
         r_out = Frames.resolveRelative(r_in, R1, frame_resolve.R);
      else
         assert(false, "Wrong value for parameter frame_r_out");
         r_out = zeros(3);
      end if;
   end if;
end BasicTransformAbsoluteVector;

Modelica.Mechanics.MultiBody.Sensors.Internal.BasicTransformRelativeVector

Transform relative vector in to another frame

Modelica.Mechanics.MultiBody.Sensors.Internal.BasicTransformRelativeVector

Information

Extends from Modelica.Mechanics.MultiBody.Sensors.Internal.PartialRelativeBaseSensor (Partial relative sensor models for sensors defined by equations (frame_resolve must be connected exactly once)).

Parameters

Type Name Default Description

ResolveInFrameAB frame_r_in Modelica.Mechanics.MultiBody... Frame in which vector r_in is resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)

ResolveInFrameAB frame_r_out frame_r_in Frame in which vector r_out (= r_in in other frame) is resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)

Type	Name	Default	Description
ResolveInFrameAB	frame_r_in	Modelica.Mechanics.MultiBody...	Frame in which vector r_in is resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)
ResolveInFrameAB	frame_r_out	frame_r_in	Frame in which vector r_out (= r_in in other frame) is resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)

Connectors

Type Name Description

Frame_a frame_a Coordinate system a (measurement is between frame_a and frame_b)

Frame_b frame_b Coordinate system b (measurement is between frame_a and frame_b)

Frame_resolve frame_resolve Coordinate system in which vector is optionally resolved

input RealInput r_in[3] Input vector resolved in frame defined by frame_r_in

output RealOutput r_out[3] Input vector r_in resolved in frame defined by frame_r_out

Type	Name	Description
Frame_a	frame_a	Coordinate system a (measurement is between frame_a and frame_b)
Frame_b	frame_b	Coordinate system b (measurement is between frame_a and frame_b)
Frame_resolve	frame_resolve	Coordinate system in which vector is optionally resolved
input RealInput	r_in[3]	Input vector resolved in frame defined by frame_r_in
output RealOutput	r_out[3]	Input vector r_in resolved in frame defined by frame_r_out

Modelica definition

model BasicTransformRelativeVector 
  "Transform relative vector in to another frame"
  import Modelica.Mechanics.MultiBody.Frames;
  import Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB;
  extends Modelica.Mechanics.MultiBody.Sensors.Internal.PartialRelativeBaseSensor;
  parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB frame_r_in=
  Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_a 
    "Frame in which vector r_in is resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)";
  parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB frame_r_out=
                  frame_r_in 
    "Frame in which vector r_out (= r_in in other frame) is resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)";

  Blocks.Interfaces.RealInput r_in[3] 
    "Input vector resolved in frame defined by frame_r_in";
  Blocks.Interfaces.RealOutput r_out[3] 
    "Input vector r_in resolved in frame defined by frame_r_out";

protected 
  Modelica.Mechanics.MultiBody.Frames.Orientation R1 
    "Orientation object from world frame to frame in which r_in is resolved";
equation 
   if frame_r_out == frame_r_in then
      r_out = r_in;
      R1 = Frames.nullRotation();
   else
      if frame_r_in == ResolveInFrameAB.world then
         R1 = Frames.nullRotation();
      elseif frame_r_in == ResolveInFrameAB.frame_a then
         R1 = frame_a.R;
      elseif frame_r_in == ResolveInFrameAB.frame_b then
         R1 = frame_b.R;
      else
         R1 = frame_resolve.R;
      end if;

      if frame_r_out == ResolveInFrameAB.world then
         r_out = Frames.resolve1(R1, r_in);
      elseif frame_r_out == ResolveInFrameAB.frame_a then
         r_out = Frames.resolveRelative(r_in, R1, frame_a.R);
      elseif frame_r_out == ResolveInFrameAB.frame_b then
         r_out = Frames.resolveRelative(r_in, R1, frame_b.R);
      else
         r_out = Frames.resolveRelative(r_in, R1, frame_resolve.R);
      end if;
   end if;
end BasicTransformRelativeVector;

Modelica.Mechanics.MultiBody.Sensors.Internal.ZeroForceAndTorque

Set force and torque to zero

Modelica.Mechanics.MultiBody.Sensors.Internal.ZeroForceAndTorque

Information

Extends from Modelica.Blocks.Interfaces.BlockIcon (Basic graphical layout of input/output block).

Connectors

Type Name Description

Frame_a frame_a

Type	Name	Description
Frame_a	frame_a

Modelica definition

model ZeroForceAndTorque "Set force and torque to zero"
   extends Modelica.Blocks.Interfaces.BlockIcon;
  Interfaces.Frame_a frame_a;
equation 
  frame_a.f = zeros(3);
  frame_a.t = zeros(3);
end ZeroForceAndTorque;

Modelica.Mechanics.MultiBody.Sensors.Internal.PartialCutForceSensor

Base model to measure the cut force and/or torque between two frames, defined by components

Modelica.Mechanics.MultiBody.Sensors.Internal.PartialCutForceSensor

Information

This is a base class for 3-dim. mechanical components with two frames and one output port in order to measure the cut-force and/or cut-torque acting between the two frames and to provide the measured signals as output for further processing with the blocks of package Modelica.Blocks.

Extends from Modelica.Icons.RotationalSensor (Icon representing rotational measurement device).

Parameters

Type Name Default Description

ResolveInFrameA resolveInFrame Modelica.Mechanics.MultiBody... Frame in which output vector(s) is/are resolved (1: world, 2: frame_a, 3: frame_resolve)

Type	Name	Default	Description
ResolveInFrameA	resolveInFrame	Modelica.Mechanics.MultiBody...	Frame in which output vector(s) is/are resolved (1: world, 2: frame_a, 3: frame_resolve)

Connectors

Type Name Description

Frame_a frame_a Coordinate system a

Frame_b frame_b Coordinate system b

Frame_resolve frame_resolve Output vectors are optionally resolved in this frame (cut-force/-torque are set to zero)

Type	Name	Description
Frame_a	frame_a	Coordinate system a
Frame_b	frame_b	Coordinate system b
Frame_resolve	frame_resolve	Output vectors are optionally resolved in this frame (cut-force/-torque are set to zero)

Modelica definition

partial model PartialCutForceSensor 
  "Base model to measure the cut force and/or torque between two frames, defined by components"

  extends Modelica.Icons.RotationalSensor;
  Modelica.Mechanics.MultiBody.Interfaces.Frame_a frame_a "Coordinate system a";
  Modelica.Mechanics.MultiBody.Interfaces.Frame_b frame_b "Coordinate system b";
  Modelica.Mechanics.MultiBody.Interfaces.Frame_resolve frame_resolve if 
         resolveInFrame==Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_resolve 
    "Output vectors are optionally resolved in this frame (cut-force/-torque are set to zero)";
    

  parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrameA resolveInFrame=
  Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a 
    "Frame in which output vector(s) is/are resolved (1: world, 2: frame_a, 3: frame_resolve)";

protected 
  outer Modelica.Mechanics.MultiBody.World world;
equation 
  assert(cardinality(frame_a) > 0,
    "Connector frame_a of cut-force/-torque sensor object is not connected");
  assert(cardinality(frame_b) > 0,
    "Connector frame_b of cut-force/-torque sensor object is not connected");

end PartialCutForceSensor;

Modelica.Mechanics.MultiBody.Sensors.Internal.PartialCutForceBaseSensor

Base model to measure the cut force and/or torque between two frames, defined by equations (frame_resolve must be connected exactly once)

Modelica.Mechanics.MultiBody.Sensors.Internal.PartialCutForceBaseSensor

Information

Extends from Modelica.Icons.RotationalSensor (Icon representing rotational measurement device).

Parameters

Type Name Default Description

ResolveInFrameA resolveInFrame Modelica.Mechanics.MultiBody... Frame in which output vector is resolved (1: world, 2: frame_a, 3: frame_resolve)

Type	Name	Default	Description
ResolveInFrameA	resolveInFrame	Modelica.Mechanics.MultiBody...	Frame in which output vector is resolved (1: world, 2: frame_a, 3: frame_resolve)

Connectors

Type Name Description

Frame_a frame_a Coordinate system a

Frame_b frame_b Coordinate system b

Frame_resolve frame_resolve The output vector is optionally resolved in this frame (cut-force/-torque are set to zero)

Type	Name	Description
Frame_a	frame_a	Coordinate system a
Frame_b	frame_b	Coordinate system b
Frame_resolve	frame_resolve	The output vector is optionally resolved in this frame (cut-force/-torque are set to zero)

Modelica definition

partial model PartialCutForceBaseSensor 
  "Base model to measure the cut force and/or torque between two frames, defined by equations (frame_resolve must be connected exactly once)"

  extends Modelica.Icons.RotationalSensor;
  Modelica.Mechanics.MultiBody.Interfaces.Frame_a frame_a "Coordinate system a";
  Modelica.Mechanics.MultiBody.Interfaces.Frame_b frame_b "Coordinate system b";
  Modelica.Mechanics.MultiBody.Interfaces.Frame_resolve frame_resolve 
    "The output vector is optionally resolved in this frame (cut-force/-torque are set to zero)";
    

  parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrameA resolveInFrame=
  Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a 
    "Frame in which output vector is resolved (1: world, 2: frame_a, 3: frame_resolve)";

protected 
  outer Modelica.Mechanics.MultiBody.World world;
equation 
  Connections.branch(frame_a.R, frame_b.R);
  assert(cardinality(frame_a) > 0,
    "Connector frame_a of cut-force/-torque sensor object is not connected");
  assert(cardinality(frame_b) > 0,
    "Connector frame_b of cut-force/-torque sensor object is not connected");

  // frame_a and frame_b are identical
  frame_a.r_0 = frame_b.r_0;
  frame_a.R = frame_b.R;

  // force and torque balance
  zeros(3) = frame_a.f + frame_b.f;
  zeros(3) = frame_a.t + frame_b.t;
  frame_resolve.f = zeros(3);
  frame_resolve.t = zeros(3);
end PartialCutForceBaseSensor;

Modelica.Mechanics.MultiBody.Sensors.Internal.BasicCutForce

Measure cut force vector (frame_resolve must be connected)

Modelica.Mechanics.MultiBody.Sensors.Internal.BasicCutForce

Information

Extends from Modelica.Mechanics.MultiBody.Sensors.Internal.PartialCutForceBaseSensor (Base model to measure the cut force and/or torque between two frames, defined by equations (frame_resolve must be connected exactly once)).

Parameters

Type Name Default Description

ResolveInFrameA resolveInFrame Modelica.Mechanics.MultiBody... Frame in which output vector is resolved (1: world, 2: frame_a, 3: frame_resolve)

Boolean positiveSign true = true, if force with positive sign is returned (= frame_a.f), otherwise with negative sign (= frame_b.f)

Type	Name	Default	Description
ResolveInFrameA	resolveInFrame	Modelica.Mechanics.MultiBody...	Frame in which output vector is resolved (1: world, 2: frame_a, 3: frame_resolve)
Boolean	positiveSign	true	= true, if force with positive sign is returned (= frame_a.f), otherwise with negative sign (= frame_b.f)

Connectors

Type	Name	Description
Frame_a	frame_a	Coordinate system a
Frame_b	frame_b	Coordinate system b
Frame_resolve	frame_resolve	The output vector is optionally resolved in this frame (cut-force/-torque are set to zero)
output RealOutput	force[3]	Cut force resolved in frame defined by resolveInFrame [N]

Modelica definition

model BasicCutForce 
  "Measure cut force vector (frame_resolve must be connected)"

  import SI = Modelica.SIunits;
  import Modelica.Mechanics.MultiBody.Types.ResolveInFrameA;
  import Modelica.Mechanics.MultiBody.Frames;

  extends Modelica.Mechanics.MultiBody.Sensors.Internal.PartialCutForceBaseSensor;
  Modelica.Blocks.Interfaces.RealOutput force[3](final quantity="Force", final unit
      =                                                                             "N") 
    "Cut force resolved in frame defined by resolveInFrame";
    parameter Boolean positiveSign=true 
    "= true, if force with positive sign is returned (= frame_a.f), otherwise with negative sign (= frame_b.f)";
protected 
  parameter Integer csign=if positiveSign then +1 else -1;
equation 
   if resolveInFrame == ResolveInFrameA.world then
      force = Frames.resolve1(frame_a.R, frame_a.f)*csign;
   elseif resolveInFrame == ResolveInFrameA.frame_a then
      force = frame_a.f*csign;
   elseif resolveInFrame == ResolveInFrameA.frame_resolve then
      force = Frames.resolveRelative(frame_a.f, frame_a.R, frame_resolve.R)*csign;
   else
      assert(false,"Wrong value for parameter resolveInFrame");
      force = zeros(3);
   end if;
end BasicCutForce;

Modelica.Mechanics.MultiBody.Sensors.Internal.BasicCutTorque

Measure cut torque vector (frame_resolve must be connected)

Modelica.Mechanics.MultiBody.Sensors.Internal.BasicCutTorque

Information

Parameters

Type Name Default Description

ResolveInFrameA resolveInFrame Modelica.Mechanics.MultiBody... Frame in which output vector is resolved (1: world, 2: frame_a, 3: frame_resolve)

Boolean positiveSign true = true, if torque with positive sign is returned (= frame_a.t), otherwise with negative sign (= frame_b.t)

Type	Name	Default	Description
ResolveInFrameA	resolveInFrame	Modelica.Mechanics.MultiBody...	Frame in which output vector is resolved (1: world, 2: frame_a, 3: frame_resolve)
Boolean	positiveSign	true	= true, if torque with positive sign is returned (= frame_a.t), otherwise with negative sign (= frame_b.t)

Connectors

Type	Name	Description
Frame_a	frame_a	Coordinate system a
Frame_b	frame_b	Coordinate system b
Frame_resolve	frame_resolve	The output vector is optionally resolved in this frame (cut-force/-torque are set to zero)
output RealOutput	torque[3]	Cut torque resolved in frame defined by resolveInFrame [N.m]

Modelica definition

model BasicCutTorque 
  "Measure cut torque vector (frame_resolve must be connected)"

  import SI = Modelica.SIunits;
  import Modelica.Mechanics.MultiBody.Types.ResolveInFrameA;
  import Modelica.Mechanics.MultiBody.Frames;

  extends Modelica.Mechanics.MultiBody.Sensors.Internal.PartialCutForceBaseSensor;
  Modelica.Blocks.Interfaces.RealOutput torque[3](final quantity="Torque", final unit
      = "N.m") "Cut torque resolved in frame defined by resolveInFrame";

  parameter Boolean positiveSign=true 
    "= true, if torque with positive sign is returned (= frame_a.t), otherwise with negative sign (= frame_b.t)";

protected 
  parameter Integer csign=if positiveSign then +1 else -1;
equation 
   if resolveInFrame == ResolveInFrameA.world then
      torque = Frames.resolve1(frame_a.R, frame_a.t)*csign;
   elseif resolveInFrame == ResolveInFrameA.frame_a then
      torque = frame_a.t*csign;
   elseif resolveInFrame == ResolveInFrameA.frame_resolve then
      torque = Frames.resolveRelative(frame_a.t, frame_a.R, frame_resolve.R)*csign;
   else
      assert(false,"Wrong value for parameter resolveInFrame");
      torque = zeros(3);
   end if;
end BasicCutTorque;

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