Drop select target variables from the KinematicsSolver object
drops from the
ks the target variables named in
variables serve to guide joints and bodies into place for analysis. Use this function to
remove just one or a few target variables if they become obsolete.
The output is an updated table with the target 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 target 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