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Drop select output variables from the KinematicsSolver object


removeOutputVariables(ks,ids) drops from the KinematicsSolver object ks the output variables named in ids. Output variables are the unknowns to solve for and report on during analysis. Use this function to remove just one or a few output variables if they become obsolete.

The output is an updated table with the output 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.)

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​'​')

Identifiers of the kinematic variables, specified as either a cell array of characters or string vector. The cell array of character and string vector can be 1-by-N or N-by-1, where N is a positive integer. Use the jointPositionVariables or jointVelocityVariables object function to show the IDs for joint variables. Use the frameVariables object function to show the IDs for frame variables.

Example: "j1.Rz.q", ["j1.Rz.q", "j2.Rz.q"], {'j1.Rz.q'}, or {'j1.Rz.q'; 'j2.Rz.q'};

Version History

Introduced in R2019a