Direct dynamics

Time integration of the system direct dynamics. For more information, see Robotran theoretical framework.

Code sample

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

mbs_data.process = 3
mbs_dirdyn = MBsysPy.MbsDirdyn(mbs_data)
dirdyn_results = mbs_dirdyn.set_options(dt0 = 1e-3, tf = 10.0, save2file = 1)
del mbs_dirdyn


The direct dynamic analysis requires an instance of MbsDirdyn. Then the simulation is performed by calling the function

The options of the time integration are set with the function MbsDirdyn.set_options().