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List all kinematic variables associated with joint positions


jointPositionVariables(ks) outputs a table showing all kinematic variables corresponding to joint positions. Each row of the table shows ID, type of joint, path from the root, and unit for the numerical value of a joint position variable. Use this function to identify the IDs of position-based variables that you want to assign as targets, initial guesses, and outputs using the addTargetVariables, addInitialGuessVariables, and addOutputVariables object functions, respectively.

The IDs of position-based variables have the form: jointName.primitiveType.primitiveComponent. The jointName string is based on the index of the joint block associated with the variable. The primitiveType string corresponds to the primitive associated with the variable (Px, Py, or Pz for prismatic; Rx, Ry, or Rz for revolute; S for spherical; CV for constant velocity; LSz for lead screw). The primitiveComponent string identifies a particular scalar value associated with the primitive (p for position of a prismatic primitive; q for angle of a revolute primitive; q, ax_x, ax_y and ax_z for the for the angle and three axis components of a spherical primitive; q_a and q_b for the azimuth and bend angles of a CV primitive; q for the rotation angle of a lead screw primitive).

Input Arguments

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Kinematics solver object, specified as a KinematicsSolver object that is the representation of the Simscape™ Multibody™ model used for kinematic analysis.

Example: ks = simscape.multibody.KinematicsSolver("DoublePendulumExample​'​')

Version History

Introduced in R2019a