Equilibrium

Computation of the system equilibrium using an iterative Newton method.
For more information, see Robotran theoritical framework.

Code sample

For running the equilibrium, insert the following code in your main script and adapt it to your need :

    /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
    /*                    EQUILIBRIUM                            *
    /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
    MbsEquil *mbs_equil;
    mbs_data->process = 2;
 
    mbs_equil = mbs_new_equil(mbs_data);
 
    // Equil options (see documentations for additional options)
    mbs_equil->options->method  = 1;
    mbs_equil->options->senstol = 1e-2;
    mbs_equil->options->verbose = 1;
 
    mbs_run_equil(mbs_equil, mbs_data);
 
    mbs_delete_equil(mbs_equil, mbs_data);

Use

The equilibrium is performed by the function mbs_run_equil().

The user specifies the desired options of the direct dynamics in MbsEquilOptions structure. The results are written to file at the end of computation.

The function calls successively :

• mbs_new_equil()
• mbs_run_equil()
• mbs_delete_equil()