jointPrimitiveVelocity

Class: simscape.multibody.CompiledMultibody
Namespace: simscape.multibody

Return velocity of provided joint primitive

Since R2022a

Syntax

[vel,status] = jointPrimitiveVelocity(cmb,jointPrimitive,state)

Description

[vel,status] = jointPrimitiveVelocity(cmb,jointPrimitive,state) returns the velocity of the specified joint primitive in a simscape.multibody.CompiledMultibody object, cmb, in the state, state.

You can query the velocities of these joint primitives:

• Revolute primitive

• Prismatic primitive

• Spherical primitive

• Lead Screw primitive

• Constant Velocity primitive

Input Arguments

cmb — Compiled multibody system

simscape.multibody.CompiledMultibody object

Compiled multibody system, specified as a simscape.multibody.CompiledMultibody object.

jointPrimitive — Path of joint primitive

string scalar | character vector

Path of the joint primitive, specified as a string scalar or character vector. Separate the path elements by using forward slashes.

Example: 'Bottom_Right_Joint/Rz'

state — State of compiled multibody system

simscape.multibody.State object

State of the compiled multibody system, specified as a simscape.multibody.State object. The state object includes the position and velocity of every joint primitive in the compiled multibody system.

Output Arguments

vel — Velocity of joint primitive

simscape.Value object

Velocity of the joint primitive, returned as a simscape.Value object. The form of the value depends on the type of the joint primitive:

Primitive Type	Type of Returned Position
Revolute	simscape.Value object that represents a scalar with a unit of angular velocity
Prismatic	simscape.Value object that represents a scalar with a unit of linear velocity
Spherical	simscape.Value object that represents a 3-by-1 vector with a unit of angular velocity. The vector is resolved in the follower frame.
Lead Screw	simscape.Value object that represents a scalar with a unit of angular velocity
Constant Velocity	simscape.Value object that represents a 2-by-1 vector with a unit of angular velocity, where the first element is for the bend angle and the second element is for the azimuth

status — Status of joint primitive in provided state

member of simscape.multibody.StateStatus class

Status of the joint primitive in the given state, returned as a member of the simscape.multibody.StateStatus class that indicates whether the returned value is valid:

• simscape.multibody.StateStatus.Valid: All kinematic constraints of the joint primitive are satisfied. Note that a valid status does not indicate that all the specified targets of the joint primitive have been met.

• simscape.multibody.StateStatus.PositionViolation: Not all position constraints of the joint primitive are satisfied.

• simscape.multibody.StateStatus.VelocityViolation: All position constraints of the joint primitive are satisfied, but not all velocity constraints of the joint primitive are satisfied.

• simscape.multibody.StateStatus.SingularityViolation: All kinematic constraints of the joint primitive are satisfied, but the joint primitive is in a kinematic singularity.

Attributes

Access

public

To learn about attributes of methods, see Method Attributes.

Version History

Introduced in R2022a