Drop select guess variables from the KinematicsSolver object
drops from the
ks the guess variables named in
variables provide a starting point for the solution of a kinematic problem and serve to bias
the solver toward one of equally plausible alternatives when several exist. Use this
function to remove just one or a few guess variables if they become obsolete.
The output is an updated table with the guess variables—those that remain—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.)
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