linkage_dynamic_model Interface

public interface linkage_dynamic_model

Contents

Module Procedures


Module Procedures

private function ldm_from_serial(mechanism, q) result(rst)

Constructs a dynamic model from a serial linkage and a compatible set of joint variables. Every serial link is treated as a moving rigid body; the proximal joint of the first link is attached to ground.

Arguments

Type IntentOptional Attributes Name
type(serial_linkage), intent(in) :: mechanism

The serial linkage to convert.
real(kind=real64), intent(in), dimension(:) :: q

One joint variable for each link.

Return Value type(linkage_dynamic_model)

The resulting dynamic model.

private function ldm_from_parallel(mechanism, q) result(rst)

Constructs a dynamic model from a parallel or planar linkage. The mechanism's base link remains fixed and all other links become moving maximal-coordinate rigid bodies.

Arguments

Type IntentOptional Attributes Name
class(kinematic_mechanism), intent(in) :: mechanism

The parallel linkage to convert.
real(kind=real64), intent(in), dimension(:) :: q

The complete, constraint-compatible joint-variable array.

Return Value type(linkage_dynamic_model)

The resulting dynamic model.