Modal analysis

Linearization of the model around the equilibrium configuration.
Computation of the system eigenmodes.
For more information, see Robotran theoritical framework.

Code sample

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

    /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
    /*                   MODAL ANALYSIS                          *
    /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
    MbsModal *mbs_modal;
    mbs_data->process = 4;
 
    mbs_modal = mbs_new_modal(mbs_data);
 
    // modal options (see documentations for additional options)
    mbs_modal->options->save_result = 1;
    mbs_modal->options->save_anim = 1;
    mbs_modal->options->mode_ampl=0.2;
    mbs_modal->options->verbose = 1;
 
    mbs_run_modal(mbs_modal, mbs_data);
    mbs_delete_modal(mbs_modal, mbs_data);

Use

The modal analysis is performed by the function mbs_run_modal().

The user specifies the desired options of the modal analysis in MbsModalOptions structure. The results are written to files at the end of computation.

You should call successively :

• mbs_new_modal()
• mbs_run_modal()
• mbs_delete_modal()