TwoLinkJointRateScenario
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.
machine’s arm as a planar two-link chain at elbow_angle: the joint rates its TCP speed limit asks in the weakest direction, exact and with damped least squares at damping.
Notes
Equation: Composition of mlsysim.solvers.TwoLinkJointRateModel.solve.
Assumptions: Inputs are routed to TwoLinkJointRateModel.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 TwoLinkJointRateModel. 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.WarehouseArmRightAngleElbow
>>> value = case.result.joint_rate_norm
>>> print(f"{value:.3g~}")
4.9 rad / sAttributes
| Name | Description |
|---|---|
| damping | |
| elbow_angle | |
| machine | |
| result | Evaluate the stated two link joint rate case through TwoLinkJointRateModel.solve; returns its typed result and quantity units. |
machine
Type: Any.
Declared default: required.
elbow_angle
Type: Quantity.
Declared default: required.
damping
Type: Quantity.
Declared default: required.
result
engine.scenario_types.TwoLinkJointRateScenario.result
Evaluate the stated two link joint rate case through TwoLinkJointRateModel.solve; returns its typed result and quantity units.
Calculation: mlsysim.solvers.TwoLinkJointRateModel.solve.