JerkLimitedStopScenario

Robotics scenarios · Implementation: mlsysim/engine/scenario_definitions/robotics/planning.py.

Construct this scenario with keyword inputs. The fields below show the types and defaults declared by this class.

A machine at speed that stops along an S-curve at deceleration after delay.

The jerk bound is jerk when stated, else the peak jerk of the reference C2 polynomial stop at jerk_reference_speed (the entry speed by default). With a site, its localization bound and protective margin join the required distance and its clear distance closes the budget unless clear_distance is stated.

Notes

Equation: Composition of mlsysim.solvers.JerkLimitedStopModel.solve.

Assumptions: Inputs are routed to JerkLimitedStopModel.solve; their documented regimes and units apply to this configuration.

Excludes: Additional mechanisms beyond the linked solver contracts; the scenario does not collect measurements.

References

Derivation: This scenario binds named inputs to JerkLimitedStopModel. The linked solver contracts own equations, sources, and result-unit definitions.

Examples

Evaluate the named configuration and display a modeled result.

>>> from mlsysim import Scenarios
>>> case = Scenarios.WarehouseArmStallStop
>>> value = case.result.required_distance
>>> print(f"{value:.3g~}")
220 mm

Attributes

Name	Description
clear_distance
d_clear	Available clearance as a distance quantity: explicit override, else site clearance, else None.
deceleration
delay
jerk
jerk_reference_speed
result	Evaluate the stated jerk limited stop case through JerkLimitedStopModel.solve; returns its typed result and quantity units.
site
speed

speed

Type: Quantity.

Declared default: required.

deceleration

Type: Quantity.

Declared default: required.

delay

Type: Optional[Quantity].

Declared default: None.

jerk

Type: Optional[Quantity].

Declared default: None.

jerk_reference_speed

Type: Optional[Quantity].

Declared default: None.

clear_distance

Type: Optional[Quantity].

Declared default: None.

site

Type: Optional[Any].

Declared default: None.

d_clear

engine.scenario_types.JerkLimitedStopScenario.d_clear

Available clearance as a distance quantity: explicit override, else site clearance, else None.

Equation: site.d_clear; otherwise clear_distance.

result

engine.scenario_types.JerkLimitedStopScenario.result

Evaluate the stated jerk limited stop case through JerkLimitedStopModel.solve; returns its typed result and quantity units.

Calculation: mlsysim.solvers.JerkLimitedStopModel.solve.