user_JointForces module

Module for the definition of joint forces.

user_JointForces.user_JointForces(mbs_data, tsim)

Compute the force and torques in the joint.

It fills the MBsysPy.MbsData.Qq array.

Parameters

• mbs_data (MBsysPy.MbsData) – The multibody system associated to this computation.

• tsim (float) – The current time of the simulation.

Notes

The numpy.ndarray MBsysPy.MbsData.Qq is 1D array with index starting at 1. The first index (array[0]) must not be modified. The first index to be filled is array[1].

Returns

Return type

None