Modelica.Mechanics.MultiBody.Sensors

Information

Package Sensors contains ideal measurement components to determine absolute and relative kinematic quantities, as well as cut-forces, cut-torques and power. All measured quantities can be provided in every desired coordinate system.

Package Content

Name	Description
AbsoluteSensor	Measure absolute kinematic quantities of frame connector
RelativeSensor	Measure relative kinematic quantities between two frame connectors
AbsolutePosition	Measure absolute position vector of the origin of a frame connector
AbsoluteVelocity	Measure absolute velocity vector of origin of frame connector
AbsoluteAngles	Measure absolute angles between frame connector and the world frame
AbsoluteAngularVelocity	Measure absolute angular velocity of frame connector
RelativePosition	Measure relative position vector between the origins of two frame connectors
RelativeVelocity	Measure relative velocity vector between the origins of two frame connectors
RelativeAngles	Measure relative angles between two frame connectors
RelativeAngularVelocity	Measure relative angular velocity between two frame connectors
Distance	Measure the distance between the origins of two frame connectors
CutForce	Measure cut force vector
CutTorque	Measure cut torque vector
CutForceAndTorque	Measure cut force and cut torque vector
Power	Measure power flowing from frame_a to frame_b
TransformAbsoluteVector	Transform absolute vector in to another frame
TransformRelativeVector	Transform relative vector in to another frame
TansformAbsoluteVector	Obsolete model will be removed in future versions, use TransformAbsoluteVector instead!
TansformRelativeVector	Obsolete model will be removed in future versions, use TransformRelativeVector instead!

Modelica.Mechanics.MultiBody.Sensors.AbsoluteSensor

Information

Absolute kinematic quantities of frame_a are determined and provided at the conditional output signal connectors. For example, if parameter "get_r = true", the connector "r" is enabled and contains the absolute vector from the world frame to the origin of frame_a. The following quantities can be provided as output signals:

1. Absolute position vector (= r)
2. Absolute velocity vector (= v)
3. Absolute acceleration vector (= a)
4. Three angles to rotate world frame into frame_a (= angles)
5. Absolute angular velocity vector (= w)
6. Absolute angular acceleration vector (= z)

Via parameter resolveInFrame it is defined, in which frame a vector is resolved:

If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the conditional connector "frame_resolve" is enabled and the vectors are resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be connected.

In the following figure the animation of an AbsoluteSensor component is shown. The light blue coordinate system is frame_a and the yellow arrow is the animated sensor.

Velocity, acceleration, angular velocity and angular acceleration are determined by differentiating them in the world frame and then transforming them in to the frame defined by resolveInFrame.

For example, if resolveInFrame = Types.ResolveInFrameA.frame_a, then

   v0 = der(frame_a.r0);
   v  = resolve2(frame_a.R, v0);

is returned, i.e., the derivative of the absolute distance from the world frame to the origin of frame_a, resolved in frame_a.

The cut-force and the cut-torque in frame_resolve are always zero, whether frame_resolve is connected or not.

If get_angles = true, the 3 angles to rotate the world frame into frame_a along the axes defined by parameter sequence are returned. For example, if sequence = {3,1,2} then the world frame is rotated around angles[1] along the z-axis, afterwards it is rotated around angles[2] along the x-axis, and finally it is rotated around angles[3] along the y-axis and is then identical to frame_a. The 3 angles are returned in the range

    -p <= angles[i] <= p

There are two solutions for "angles[1]" in this range. Via parameter guessAngle1 (default = 0) the returned solution is selected such that |angles[1] - guessAngle1| is minimal. The absolute transformation matrix of frame_a may be in a singular configuration with respect to "sequence", i.e., there is an infinite number of angle values leading to the same absolute transformation matrix. In this case, the returned solution is selected by setting angles[1] = guessAngle1. Then angles[2] and angles[3] can be uniquely determined in the above range.

The parameter sequence has the restriction that only values 1,2,3 can be used and that sequence[1] ≠ sequence[2] and sequence[2] ≠ sequence[3]. Often used values are:

  sequence = {1,2,3}  // Cardan or Tait-Bryan angle sequence
           = {3,1,3}  // Euler angle sequence
           = {3,2,1}

Parameters

Name	Description
animation	= true, if animation shall be enabled (show arrow)
resolveInFrame	Frame in which vectors are resolved (world, frame_a, or frame_resolve)
get_r	= true, to measure the absolute position vector of the origin of frame_a
get_v	= true, to measure the absolute velocity of the origin of frame_a
get_a	= true, to measure the absolute acceleration of the origin of frame_a
get_w	= true, to measure the absolute angular velocity of frame_a
get_z	= true, to measure the absolute angular acceleration of frame_a
3 angles to rotate the world frame into frame_a along the axes defined in "sequence"
get_angles	= true, to measure the 3 rotation angles
sequence	If get_angles=true: Angles are returned to rotate world frame around axes sequence[1], sequence[2] and finally sequence[3] into frame_a
guessAngle1	If get_angles=true: Select angles[1] such that abs(angles[1] - guessAngle1) is a minimum [rad]
Animation
if animation = true
arrowDiameter	Diameter of absolute arrow from world frame to frame_a [m]
arrowColor	Color of absolute arrow from world frame to frame_b
specularCoefficient	Reflection of ambient light (= 0: light is completely absorbed)

Connectors

Name	Description
r[3]	Absolute position vector frame_a.r_0 resolved in frame defined by resolveInFrame [m]
v[3]	Absolute velocity vector [m/s]
a[3]	Absolute acceleration vector [m/s2]
angles[3]	Angles to rotate world frame into frame_a via 'sequence' [rad]
w[3]	Absolute angular velocity vector [1/s]
z[3]	Absolute angular acceleration vector [1/s2]
frame_a	Coordinate system at which the kinematic quantities are measured
frame_resolve	If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the output signals are resolved in this frame

Modelica.Mechanics.MultiBody.Sensors.RelativeSensor

Information

Relative kinematic quantities between frame_a and frame_b are determined and provided at the conditional output signal connectors. For example, if parameter "get_r_rel = true", the connector "r_rel" is enabled and contains the relative vector from frame_a to frame_b. The following quantities can be provided as output signals:

1. Relative position vector (= r_rel)
2. Relative velocity vector (= v_rel)
3. Relative acceleration vector (= a_rel)
4. Three angles to rotate frame_a into frame_b (= angles)
5. Relative angular velocity vector (= w_rel)
6. Relative angular acceleration vector (= z_rel)

Via parameter resolveInFrame it is defined, in which frame a vector is resolved (before differentiation):

If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the conditional connector "frame_resolve" is enabled and the vectors are resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be connected.

In the following figure the animation of a RelativeSensor component is shown. The light blue coordinate system is frame_a, the dark blue coordinate system is frame_b, and the yellow arrow is the animated sensor.

Note, derivatives of relative kinematic quantities are always performed with respect to the frame, in which the vector to be differentiated is resolved. After differentiation, it is possible via parameter resolveInFrameAfterDifferentiation (in the "Advanced" menu) to resolve the differentiated vector in another frame.

For example, if resolveInFrame = Types.ResolveInFrameAB.frame_b, then

   r_rel = resolve2(frame_b.R, frame_b.r_0 - frame_a.r0);
   v_rel = der(r_rel);

is returned (r_rel = resolve2(frame_b.R, frame_b.r_0 - frame_a.r0)), i.e., the derivative of the relative distance from frame_a to frame_b, resolved in frame_b. If resolveInFrameAfterDifferentiation = Types.ResolveInFrameAB.world, then v_rel is additionally transformed to:

   v_rel = resolve1(frame_b.R, der(r_rel))

The cut-force and the cut-torque in frame_resolve are always zero, whether frame_resolve is connected or not.

If get_angles = true, the 3 angles to rotate frame_a into frame_b along the axes defined by parameter sequence are returned. For example, if sequence = {3,1,2} then frame_a is rotated around angles[1] along the z-axis, afterwards it is rotated around angles[2] along the x-axis, and finally it is rotated around angles[3] along the y-axis and is then identical to frame_b. The 3 angles are returned in the range

    -p <= angles[i] <= p

There are two solutions for "angles[1]" in this range. Via parameter guessAngle1 (default = 0) the returned solution is selected such that |angles[1] - guessAngle1| is minimal. The relative transformation matrix between frame_a and frame_b may be in a singular configuration with respect to "sequence", i.e., there is an infinite number of angle values leading to the same relative transformation matrix. In this case, the returned solution is selected by setting angles[1] = guessAngle1. Then angles[2] and angles[3] can be uniquely determined in the above range.

The parameter sequence has the restriction that only values 1,2,3 can be used and that sequence[1] ≠ sequence[2] and sequence[2] ≠ sequence[3]. Often used values are:

  sequence = {1,2,3}  // Cardan or Tait-Bryan angle sequence
           = {3,1,3}  // Euler angle sequence
           = {3,2,1}

Parameters

Name	Description
animation	= true, if animation shall be enabled (show arrow)
resolveInFrame	Frame in which vectors are resolved before differentiation (world, frame_a, frame_b, or frame_resolve)
get_r_rel	= true, to measure the relative position vector from the origin of frame_a to frame_b
get_v_rel	= true, to measure the relative velocity of the origin of frame_b with respect to frame_a
get_a_rel	= true, to measure the relative acceleration of the origin of frame_b with respect to frame_a
get_w_rel	= true, to measure the relative angular velocity of frame_b with respect to frame_a
get_z_rel	= true, to measure the relative angular acceleration of frame_b with respect to frame_a
3 angles to rotate frame_a into frame_b along the axes defined in "sequence"
get_angles	= true, to measure the 3 rotation angles
sequence	If get_angles=true: Angles are returned to rotate frame_a around axes sequence[1], sequence[2] and finally sequence[3] into frame_b
guessAngle1	If get_angles=true: Select angles[1] such that abs(angles[1] - guessAngle1) is a minimum [rad]
Animation
if animation = true
arrowDiameter	Diameter of relative arrow from frame_a to frame_b [m]
arrowColor	Color of relative arrow from frame_a to frame_b
specularCoefficient	Reflection of ambient light (= 0: light is completely absorbed)
Advanced
if get_v_rel or get_a_rel or get_z_rel
resolveInFrameAfterDifferentiation	Frame in which vectors are resolved after differentiation (world, frame_a, frame_b, or frame_resolve)

Connectors

Name	Description
frame_a	Coordinate system a
frame_b	Coordinate system b
frame_resolve	If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the output signals are resolved in this frame
r_rel[3]	Relative position vector frame_b.r_0 - frame_a.r_0 resolved in frame defined by resolveInFrame [m]
v_rel[3]	Relative velocity vector [m/s]
a_rel[3]	Relative acceleration vector [m/s2]
angles[3]	Angles to rotate frame_a into frame_b via 'sequence' [rad]
w_rel[3]	Relative angular velocity vector [1/s]
z_rel[3]	Relative angular acceleration vector [1/s2]

Modelica.Mechanics.MultiBody.Sensors.AbsolutePosition

Information

The absolute position vector of the origin of frame_a is determined and provided at the output signal connector r.

Via parameter resolveInFrame it is defined, in which frame the position vector is resolved:

If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the conditional connector "frame_resolve" is enabled and r is resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be connected.

Example: If resolveInFrame = Types.ResolveInFrameA.frame_a, the output vector is computed as:

    r = MultiBody.Frames.resolve2(frame_a.R, frame_b.r_0);

Parameters

Name	Description
resolveInFrame	Frame in which output vector r shall be resolved (world, frame_a, or frame_resolve)

Connectors

Name	Description
frame_a	Coordinate system at which the kinematic quantities are measured
r[3]	Absolute position vector resolved in frame defined by resolveInFrame [m]
frame_resolve	Coordinate system in which output vector r is optionally resolved

Modelica.Mechanics.MultiBody.Sensors.AbsoluteVelocity

Information

The absolute velocity vector of the origin of frame_a is determined and provided at the output signal connector v.

Via parameter resolveInFrame it is defined, in which frame the velocity vector is resolved:

If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the conditional connector "frame_resolve" is enabled and v is resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be connected.

Example: If resolveInFrame = Types.ResolveInFrameA.frame_a, the output vector is computed as:

    v0 = der(frame_a.r_0);
    v  = MultiBody.Frames.resolve2(frame_a.R, v0);

Parameters

Name	Description
resolveInFrame	Frame in which output vector v shall be resolved (world, frame_a, or frame_resolve)

Connectors

Name	Description
frame_a	Coordinate system at which the kinematic quantities are measured
v[3]	Absolute velocity vector resolved in frame defined by resolveInFrame [m/s]
frame_resolve	Coordinate system in which output vector v is optionally resolved

Modelica.Mechanics.MultiBody.Sensors.AbsoluteAngles

Information

This model determines the 3 angles to rotate the world frame into frame_a along the axes defined by parameter sequence. For example, if sequence = {3,1,2} then the world frame is rotated around angles[1] along the z-axis, afterwards it is rotated around angles[2] along the x-axis, and finally it is rotated around angles[3] along the y-axis and is then identical to frame_a. The 3 angles are returned in the range

    -p <= angles[i] <= p

There are two solutions for "angles[1]" in this range. Via parameter guessAngle1 (default = 0) the returned solution is selected such that |angles[1] - guessAngle1| is minimal. The transformation matrix between the world frame and frame_a may be in a singular configuration with respect to "sequence", i.e., there is an infinite number of angle values leading to the same relative transformation matrix. In this case, the returned solution is selected by setting angles[1] = guessAngle1. Then angles[2] and angles[3] can be uniquely determined in the above range.

The parameter sequence has the restriction that only values 1,2,3 can be used and that sequence[1] ≠ sequence[2] and sequence[2] ≠ sequence[3]. Often used values are:

  sequence = {1,2,3}  // Cardan or Tait-Bryan angle sequence
           = {3,1,3}  // Euler angle sequence
           = {3,2,1}

Parameters

Name	Description
sequence	Angles are returned to rotate world frame around axes sequence[1], sequence[2] and finally sequence[3] into frame_a
guessAngle1	Select angles[1] such that abs(angles[1] - guessAngle1) is a minimum [rad]

Connectors

Name	Description
frame_a	Coordinate system a from which the angles shall be determined
angles[3]	Angles to rotate world frame into frame_a via 'sequence' [rad]

Modelica.Mechanics.MultiBody.Sensors.AbsoluteAngularVelocity

Information

The absolute angular velocity of frame_a with respect to the world frame is determined and provided at the output signal connector w.

Via parameter resolveInFrame it is defined, in which frame the angular velocity is resolved:

If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the conditional connector "frame_resolve" is enabled and w is resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be connected.

Example: If resolveInFrame = Types.ResolveInFrameA.frame_a, the output vector is computed as:

    w = MultiBody.Frames.angularVelocity2(frame_a.R);

Parameters

Name	Description
resolveInFrame	Frame in which output vector w shall be resolved (world, frame_a, or frame_resolve)

Connectors

Name	Description
frame_a	Coordinate system at which the kinematic quantities are measured
w[3]	Absolute angular velocity vector of frame_a with respect to world frame, resolved in frame defined by resolveInFrame [rad/s]
frame_resolve	Coordinate system in which w is optionally resolved

Modelica.Mechanics.MultiBody.Sensors.RelativePosition

Information

The relative position vector between the origins of frame_a and frame_b are determined and provided at the output signal connector r_rel.

Via parameter resolveInFrame it is defined, in which frame the position vector is resolved:

If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the conditional connector "frame_resolve" is enabled and r_rel is resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be connected.

Example: If resolveInFrame = Types.ResolveInFrameAB.frame_a, the output vector is computed as:

    r_rel = MultiBody.Frames.resolve2(frame_a.R, frame_b.r_0 - frame_a.r_0);

Parameters

Name	Description
resolveInFrame	Frame in which output vector r_rel shall be resolved (world, frame_a, frame_b, or frame_resolve)

Connectors

Name	Description
frame_a	Coordinate system a
frame_b	Coordinate system b
r_rel[3]	Relative position vector resolved in frame defined by resolveInFrame
frame_resolve	Coordinate system in which r_rel is optionally resolved

Modelica.Mechanics.MultiBody.Sensors.RelativeVelocity

Information

The relative velocity vector between the origins of frame_a and of frame_b are determined and provided at the output signal connector v_rel. This vector is defined as:

    r_rel = MultiBody.Frames.resolve2(frame_a.R, frame_b.r_0 - frame_a.r_0);
    v_rel = der(r_rel);

Via parameter resolveInFrame it is defined, in which frame the velocity vector is resolved:

If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the conditional connector "frame_resolve" is enabled and v_rel is resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be connected.

Example: If resolveInFrame = Types.ResolveInFrameAB.frame_b, the output vector is computed as:

    r_rel   = MultiBody.Frames.resolve2(frame_a.R, frame_b.r_0 - frame_a.r_0);
    v_rel_a = der(r_rel);
    v_rel   = MultiBody.Frames.resolveRelative(frame_a.R, frame_b.R, v_rel_a);

Parameters

Name	Description
resolveInFrame	Frame in which output vector v_rel shall be resolved (world, frame_a, frame_b, or frame_resolve)

Connectors

Name	Description
frame_a	Coordinate system a
frame_b	Coordinate system b
v_rel[3]	Relative velocity vector resolved in frame defined by resolveInFrame [m/s]
frame_resolve	Coordinate system in which v_rel is optionally resolved

Modelica.Mechanics.MultiBody.Sensors.RelativeAngles

Information

This model determines the 3 angles to rotate frame_a into frame_b along the axes defined by parameter sequence. For example, if sequence = {3,1,2} then frame_a is rotated around angles[1] along the z-axis, afterwards it is rotated around angles[2] along the x-axis, and finally it is rotated around angles[3] along the y-axis and is then identical to frame_b. The 3 angles are returned in the range

    -p <= angles[i] <= p

There are two solutions for "angles[1]" in this range. Via parameter guessAngle1 (default = 0) the returned solution is selected such that |angles[1] - guessAngle1| is minimal. The relative transformation matrix between frame_a and frame_b may be in a singular configuration with respect to "sequence", i.e., there is an infinite number of angle values leading to the same relative transformation matrix. In this case, the returned solution is selected by setting angles[1] = guessAngle1. Then angles[2] and angles[3] can be uniquely determined in the above range.

The parameter sequence has the restriction that only values 1,2,3 can be used and that sequence[1] ≠ sequence[2] and sequence[2] ≠ sequence[3]. Often used values are:

  sequence = {1,2,3}  // Cardan or Tait-Bryan angle sequence
           = {3,1,3}  // Euler angle sequence
           = {3,2,1}

Parameters

Name	Description
sequence	Angles are returned to rotate frame_a around axes sequence[1], sequence[2] and finally sequence[3] into frame_b
guessAngle1	Select angles[1] such that abs(angles[1] - guessAngle1) is a minimum [rad]

Connectors

Name	Description
frame_a	Coordinate system a
frame_b	Coordinate system b
angles[3]	Angles to rotate frame_a into frame_b via 'sequence' [rad]

Modelica.Mechanics.MultiBody.Sensors.RelativeAngularVelocity

Information

The relative angular velocity between frame_a and frame_b is determined and provided at the output signal connector w_rel.

Via parameter resolveInFrame it is defined, in which frame the angular velocity is resolved:

If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the conditional connector "frame_resolve" is enabled and w_rel is resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be connected.

Example: If resolveInFrame = Types.ResolveInFrameAB.frame_a, the output vector is computed as:

    // Relative orientation object from frame_a to frame_b
    R_rel = MultiBody.Frames.relativeRotation(frame_a.R, frame_b.R);

    // Angular velocity resolved in frame_a
    w_rel = MultiBody.Frames.angularVelocity1(R_rel);

Parameters

Name	Description
resolveInFrame	Frame in which output vector w_rel shall be resolved (world, frame_a, frame_b, or frame_resolve)

Connectors

Name	Description
frame_a	Coordinate system a
frame_b	Coordinate system b
w_rel[3]	Relative angular velocity vector between frame_a and frame_b resolved in frame defined by resolveInFrame [rad/s]
frame_resolve	Coordinate system in which w_rel is optionally resolved

Modelica.Mechanics.MultiBody.Sensors.Distance

Information

The distance between the origins of frame_a and of frame_b are determined and provided at the output signal connector distance. This distance is always positive. Derivatives of this signal can be easily obtained by connecting the block Modelica.Blocks.Continuous.Der to "distance" (this block performs analytic differentiation of the input signal using the der(..) operator).

In the following figure the animation of a Distance sensor is shown. The light blue coordinate system is frame_a, the dark blue coordinate system is frame_b, and the yellow arrow is the animated sensor.

If the distance is smaller as parameter s_small (in the "advanced" menu), it is approximated such that its derivative is finite for zero distance. Without such an approximation, the derivative would be infinite and a division by zero would occur. The approximation is performed in the following way: If distance > s_small, it is computed as sqrt(r*r) where r is the position vector from the origin of frame_a to the origin of frame_b. If the distance becomes smaller as s_small, the "sqrt()" function is approximated by a second order polynomial, such that the function value and its first derivative are identical for sqrt() and the polynomial at s_small. Furthermore, the polynomial passes through zero. The effect is, that the distance function is continuous and differentiable everywhere. The derivative at zero distance is 3/(2*s_small).

Parameters

Name	Description
animation	= true, if animation shall be enabled (show arrow)
if animation = true
arrowDiameter	Diameter of relative arrow from frame_a to frame_b [m]
arrowColor	Color of relative arrow from frame_a to frame_b
specularCoefficient	Reflection of ambient light (= 0: light is completely absorbed)
Advanced
s_small	Prevent zero-division if distance between frame_a and frame_b is zero [m]

Connectors

Name	Description
frame_a	Coordinate system fixed to the component with one cut-force and cut-torque
frame_b	Coordinate system fixed to the component with one cut-force and cut-torque
distance	Distance between the origin of frame_a and the origin of frame_b

Modelica.Mechanics.MultiBody.Sensors.CutForce

Information

The cut-force acting between the two frames to which this model is connected, is determined and provided at the output signal connector force (= frame_a.f). If parameter positiveSign = false, the negative cut-force is provided (= frame_b.f).

Via parameter resolveInFrame it is defined, in which frame the force vector is resolved:

If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the conditional connector "frame_resolve" is enabled and output force is resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be connected.

In the following figure the animation of a CutForce sensor is shown. The dark blue coordinate system is frame_b, and the green arrow is the cut force acting at frame_b and with negative sign at frame_a.

Parameters

Name	Description
animation	= true, if animation shall be enabled (show arrow)
positiveSign	= true, if force with positive sign is returned (= frame_a.f), otherwise with negative sign (= frame_b.f)
resolveInFrame	Frame in which output vector(s) is/are resolved (world, frame_a, or frame_resolve)
if animation = true
N_to_m	Force arrow scaling (length = force/N_to_m) [N/m]
forceDiameter	Diameter of force arrow [m]
forceColor	Color of force arrow
specularCoefficient	Reflection of ambient light (= 0: light is completely absorbed)

Connectors

Name	Description
force[3]	Cut force resolved in frame defined by resolveInFrame [N]
frame_a	Coordinate system a
frame_b	Coordinate system b
frame_resolve	Output vectors are optionally resolved in this frame (cut-force/-torque are set to zero)

Modelica.Mechanics.MultiBody.Sensors.CutTorque

Information

The cut-torque acting between the two frames to which this model is connected, is determined and provided at the output signal connector torque (= frame_a.t). If parameter positiveSign = false, the negative cut-torque is provided (= frame_b.t).

Via parameter resolveInFrame it is defined, in which frame the torque vector is resolved:

If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the conditional connector "frame_resolve" is enabled and output torque is resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be connected.

In the following figure the animation of a CutTorque sensor is shown. The dark blue coordinate system is frame_b, and the green arrow is the cut torque acting at frame_b and with negative sign at frame_a.

Parameters

Name	Description
animation	= true, if animation shall be enabled (show arrow)
positiveSign	= true, if torque with positive sign is returned (= frame_a.t), otherwise with negative sign (= frame_b.t)
resolveInFrame	Frame in which output vector(s) is/are resolved (world, frame_a, or frame_resolve)
if animation = true
Nm_to_m	Torque arrow scaling (length = torque/Nm_to_m) [N.m/m]
torqueDiameter	Diameter of torque arrow [m]
torqueColor	Color of torque arrow
specularCoefficient	Reflection of ambient light (= 0: light is completely absorbed)

Connectors

Name	Description
torque[3]	Cut torque resolved in frame defined by resolveInFrame
frame_a	Coordinate system a
frame_b	Coordinate system b
frame_resolve	Output vectors are optionally resolved in this frame (cut-force/-torque are set to zero)

Modelica.Mechanics.MultiBody.Sensors.CutForceAndTorque

Information

The cut-force and cut-torque acting between the two frames to which this model is connected, are determined and provided at the output signal connectors force (= frame_a.f) and torque (= frame_a.t). If parameter positiveSign = false, the negative cut-force and cut-torque is provided (= frame_b.f, frame_b.t).

Via parameter resolveInFrame it is defined, in which frame the two vectors are resolved:

If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the conditional connector "frame_resolve" is enabled and the output vectors force and torque are resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be connected.

In the following figure the animation of a CutForceAndTorque sensor is shown. The dark blue coordinate system is frame_b, and the green arrows are the cut force and the cut torque, respectively, acting at frame_b and with negative sign at frame_a.

Parameters

Name	Description
animation	= true, if animation shall be enabled (show force and torque arrow)
positiveSign	= true, if force and torque with positive sign is returned (= frame_a.f/.t), otherwise with negative sign (= frame_b.f/.t)
resolveInFrame	Frame in which output vector(s) is/are resolved (world, frame_a, or frame_resolve)
if animation = true
N_to_m	Force arrow scaling (length = force/N_to_m) [N/m]
Nm_to_m	Torque arrow scaling (length = torque/Nm_to_m) [N.m/m]
forceDiameter	Diameter of force arrow [m]
torqueDiameter	Diameter of torque arrow [m]
forceColor	Color of force arrow
torqueColor	Color of torque arrow
specularCoefficient	Reflection of ambient light (= 0: light is completely absorbed)

Connectors

Name	Description
force[3]	Cut force resolved in frame defined by resolveInFrame [N]
torque[3]	Cut torque resolved in frame defined by resolveInFrame
frame_a	Coordinate system a
frame_b	Coordinate system b
frame_resolve	Output vectors are optionally resolved in this frame (cut-force/-torque are set to zero)

Modelica.Mechanics.MultiBody.Sensors.Power

Information

This component provides the power flowing from frame_a to frame_b as output signal power.

Connectors

Name	Description
frame_a	Coordinate system fixed to the component with one cut-force and cut-torque
frame_b	Coordinate system fixed to the component with one cut-force and cut-torque
power	Power at frame_a as output signal [W]

Modelica.Mechanics.MultiBody.Sensors.TransformAbsoluteVector

Information

The input vector "Real r_in[3]" is assumed to be an absolute kinematic quantity of frame_a that is defined to be resolved in the frame defined with parameter "frame_r_in". This model resolves vector r_in in the coordinate system defined with parameter "frame_r_out" and returns the transformed output vector as "Real r_out[3]";

Parameters

Name	Description
frame_r_in	Frame in which vector r_in is resolved (world, frame_a, or frame_resolve)
frame_r_out	Frame in which vector r_in shall be resolved and provided as r_out (world, frame_a, or frame_resolve)

Connectors

Name	Description
frame_a	Coordinate system from which absolute kinematic quantities are measured
frame_resolve	Coordinate system in which r_in or r_out is optionally resolved
r_in[3]	Input vector resolved in frame defined by frame_r_in
r_out[3]	Input vector r_in resolved in frame defined by frame_r_out

Modelica.Mechanics.MultiBody.Sensors.TransformRelativeVector

Information

The input vector "Real r_in[3]" is assumed to be a relative kinematic quantity between frame_a and frame_b that is defined to be resolved in the frame defined with parameter "frame_r_in". This model resolves vector r_in in the coordinate system defined with parameter "frame_r_out" and returns the transformed output vector as "Real r_out[3]";

Parameters

Name	Description
frame_r_in	Frame in which vector r_in is resolved (world, frame_a, frame_b, or frame_resolve)
frame_r_out	Frame in which vector r_in shall be resolved and provided as r_out (world, frame_a, frame_b, or frame_resolve)

Connectors

Name	Description
frame_a	Coordinate system a
frame_b	Coordinate system b
frame_resolve	Coordinate system in which r_in or r_out is optionally resolved
r_in[3]	Input vector resolved in frame defined by frame_r_in
r_out[3]	Input vector r_in resolved in frame defined by frame_r_out

Modelica.Mechanics.MultiBody.Sensors.TansformAbsoluteVector

Information

Parameters

Name	Description
frame_r_in	Frame in which vector r_in is resolved (world, frame_a, or frame_resolve)
frame_r_out	Frame in which vector r_in shall be resolved and provided as r_out (world, frame_a, or frame_resolve)

Connectors

Name	Description
frame_a	Coordinate system from which absolute kinematic quantities are measured
frame_resolve	Coordinate system in which r_in or r_out is optionally resolved
r_in[3]	Input vector resolved in frame defined by frame_r_in
r_out[3]	Input vector r_in resolved in frame defined by frame_r_out

Modelica.Mechanics.MultiBody.Sensors.TansformRelativeVector

Information

Parameters

Name	Description
frame_r_in	Frame in which vector r_in is resolved (world, frame_a, frame_b, or frame_resolve)
frame_r_out	Frame in which vector r_in shall be resolved and provided as r_out (world, frame_a, frame_b, or frame_resolve)

Connectors

Name	Description
frame_a	Coordinate system a
frame_b	Coordinate system b
frame_resolve	Coordinate system in which r_in or r_out is optionally resolved
r_in[3]	Input vector resolved in frame defined by frame_r_in
r_out[3]	Input vector r_in resolved in frame defined by frame_r_out