Assign kinematic variables from the KinematicsSolver object as guesses
assigns as guess variables the kinematic variables listed in the
ks under the names given in the
Both joint and frame variables can serve in this role. Those that do bias the solver toward
one of equally plausible solutions when several exist. Guess variables are optional but
important solver guides in some kinematic problems.
The output is an updated table with the guess variables—both new and old—in rows. Each row gives the ID of a variable, the type and block path of the joint to which it belongs if a joint variable, the base and follower frames from which it spawns if a frame variable, and the unit for its numerical value. The variables rank in the order added.
Most variables can be assigned individually. A few must be assigned in groups—axis components alongside rotation angle in spherical primitives; bend angle alongside azimuth angle in constant-velocity primitives. (A bend angle can be assigned individually but the azimuth angle cannot.)
No attempt is made to satisfy guess variables. They are a starting point in the search for a solution. Use them merely to bias the solver toward a suitable solution when several exist.
The figure shows the variables of a general
Target (T), guess (G), and
output (O) variables can be joint variables (J) or frame variables (F). The
same variable can serve as guess and output, but if it serves as target, it cannot double as
guess. Assigning a guess variable as target clears it as guess.
ks— Kinematics solver object
KinematicsSolver object is the representation of a Simscape
Multibody model used for kinematic analysis.
Example: ks = simscape.multibody.KinematicsSolver('sm_double_pendulum')
ids— Identifiers of kinematic variables to use