 | It defines the initial system state
vector for the dynamics system which consists of generalized positions and generalized
momenta of the mechanical system. It can also include the states of the user defined
differential equations (representing control sub-functions) if applicable.
|
| It uses the information in the state
vector, over each integration step, to compute the motion parameters associated with each
body. These include the angular and translational position and velocity of member bodies
relative to neighbors and to the inertial frame.
|
| It issues motion data such as position
and rate data to the control subroutine (for standalone implementation) or to the control
workspace (for Simulink(c) implementation). In return, it receives actuation signals such
as hinge torque and forces from them.
|
| It computes the time derivative of the
system state vector, and pass it to the integrator (for the standalone implementation) or
to the Simulink processor (for Simulink(c) implementation). Should there be constraints or
switches required by the dynamics model, it would satisfy them in the solution process.
|
| It sends out at discrete times user
selected data to a designated output (plot data) file. This file and the companion .m
files created by ZDynamo makes it very easy to view the simulation results using Matlab.
|
| It repeats the previous 4 steps until the
simulation is done.
|
