Free motion joint (3 degrees-of-freedom, 6 states)

Library
Mechanics/Planar/Joints
Description
This joint does not constrain the motion between frame_a (left) and frame_b (right). Thus frame_b can be arbitrarily translated or rotated with respect to frame_a.
Parameters

- initType [-] : Type of initial value for [r_rel_a,v_rel_a,a_rel_a,phi_rel,w_rel,z_rel] (0=guess,1=fixed) (initType): Vector of Size 6.
- r_rel_a_start [m] : Initial values of r_rel_a (vector from origin of frame_a to origin of frame_b resolved in frame_a) (r_rel_a_start): Vector of Size 2.
- v_rel_a_start [m/s] : Initial values of velocity v_rel_a = der(r_rel_a) (v_rel_a_start): Vector of Size 2.
- a_rel_a_start [m/s2] : Initial values of acceleration a_rel_a = der(v_rel_a) (a_rel_a_start): Vector of Size 2.
- phi_rel_start [rad] : Initial value of angle phi_rel to rotate frame_a into frame_b (phi_rel_start): Scalar.
- w_rel_start [rad/s] : Initial value of angular velocity w_rel = der(phi_rel) of frame_b with respect to frame_a (w_rel_start): Scalar.
- z_rel_start [rad/s2] : Initial value of angular acceleration z_rel = der(w_rel) of frame_b with respect to frame_a (z_rel_start): Scalar.
Ports
- Port 1 at left position: implicit input fixedport numbered 1.
- Port 1 at right position: implicit output fixedport numbered 1.