gTwoLink_abg.tex

MTT command:

mtt gTwoLink abg tex

Figure 10.1: System gTwoLink: acausal bond graph

The acausal bond graph of system gTwoLink is displayed in Figure 10.1 (on page ) and its label file is listed in Section 10.1.1 (on page ). The subsystems are listed in Section 10.1.2 (on page ).

This is a heirachical version of the example from Section 10.5 of "Metamodelling". It uses the compound components: ROD. ROD is essentially as described in Figure 10.2. Gravity is included as discussed in "Metamodelling" by accelerating the manipulator vertically using the ACCEL component.

This system has a number of dynamic elements (those corresponding to translation motion) in derivative causality, thus the system is represnted as a Differential-Algebraic Equation (Section (on page )). Hovever, this is of contrained-state form and therfore can be written as a set of constrained-state equations (Section (on page )). The corresponding ordinary differential equation is complicated due to the trig functions involved in inverting the E matrix.

As well as the standard representation the ``robot-form'' equations appear in Section (on page ).