Joint motor
The modeling of the motion for the joint.
Attributes
- Name: The name used when referring to this element from other places.
Mandatory children
- mode: Defines the control mode for the joint.
- Var: smtk_mechanical_choice
- Type: input
- Default value:
velocity
- Possible options:
position
,velocity
- axis: Indicates the axis to be motorized.
- Var: smtk_axis
- Type: constant
- Default value:
x
- Possible options:
x
,y
,z
,rx
,ry
,rz
- hold: Indicates if the motor should hold its position when velocity is set to zero in velocity mode or after reaching the position in position mode.
- Var: smtk_bool
- Type: constant
- Default value:
false
- value: Value for the motor control using international system of units (m , rad for position and m/s , rad/s for velocity).
- Var: smtk_float
- Type: input
- Default value:
0.0
- feedback: Value of the force/torque feedback given by the joint.
- Var: smtk_float
- Type: output
- Default value:
0.0