This information is part of the Modelica Standard Library maintained by the Modelica Association.

Given

• start and end angles of every axis
• maximum speed of every axis
• maximum acceleration of every axis

this component computes the fastest movement under the given constraints. This means, that:

1. Every axis accelerates with the maximum acceleration until the maximum speed is reached.
2. Drives with the maximum speed as long as possible.
3. Decelerates with the negative of the maximum acceleration until rest.

The acceleration, constant velocity and deceleration phase are determined in such a way that the movement starts form the start angles and ends at the end angles. The output of this block are the computed angles, angular velocities and angular acceleration and this information is stored as reference motion on the controlBus of the r3 robot.

naxis	Value: 6 Type: Integer Description: Number of driven axis
angleBegDeg	Value: zeros(naxis) Type: Angle_deg[naxis] (°) Description: Start angles
angleEndDeg	Value: ones(naxis) Type: Angle_deg[naxis] (°) Description: End angles
speedMax	Value: fill(3, naxis) Type: AngularVelocity[naxis] (rad/s) Description: Maximum axis speed
accMax	Value: fill(2.5, naxis) Type: AngularAcceleration[naxis] (rad/s²) Description: Maximum axis acceleration
startTime	Value: 0 Type: Time (s) Description: Start time of movement
swingTime	Value: 0.5 Type: Time (s) Description: Additional time after reference motion is in rest before simulation is stopped
angleBeg	Value: Cv.from_deg(angleBegDeg) Type: Angle[:] (rad) Description: Start angles
angleEnd	Value: Cv.from_deg(angleEndDeg) Type: Angle[:] (rad) Description: End angles