masterslavejointroutinesmodule Module Reference

Module with subroutines for joint constraint calculation calculations. More...

Functions/Subroutines
subroutine, public	incjointsvar (joints, inc, motions, useTotalInc)
	Increments all joint DOFs in the model. More...
subroutine, public	updatejoints (joints, motions, ierr)
	Updates joint triad positions and associated constraint variables. More...
subroutine	setspringstatus (jDOFs, slider)
	Sets the status of contact springs past ends and outside the active radius region for Cam joints. More...
subroutine, public	movejointinposition (joint, ierr)
	Updates dependent triad position and the dependent variables. More...
subroutine, public	updatedependencies (joint, motions)
	Updatea the linear dependencies in a joint. More...
subroutine, public	initiatejointvars (joint, ierr)
	Initializes the joint variables (velocities and accelerations). More...

Variables
real(dp), parameter	epszero_p = 1.0e-15_dp
	Zero tolerance. More...

Detailed Description

Module with subroutines for joint constraint calculation calculations.

Function/Subroutine Documentation

incjointsvar()

subroutine, public masterslavejointroutinesmodule::incjointsvar	(	type(masterslavejointtype), dimension(:), intent(inout), target	joints,
		real(dp), dimension(:), intent(in)	inc,
		type(motiontype), dimension(:), intent(in)	motions,
		logical, intent(in), optional	useTotalInc
	)

Increments all joint DOFs in the model.

Author

Bjorn Haugen

Date

16 Nov 2001

Author

Knut Morten Okstad

Date

21 Jun 2002

initiatejointvars()

subroutine, public masterslavejointroutinesmodule::initiatejointvars	(	type(masterslavejointtype), intent(inout)	joint,
		integer, intent(out)	ierr
	)

Initializes the joint variables (velocities and accelerations).

The initialization is based on the current state of the joint triads, or the dependent DOF vel/acc if the joint variable vel/acc are given instead.

Author

Knut Morten Okstad

Date

24 Oct 2002

movejointinposition()

subroutine, public masterslavejointroutinesmodule::movejointinposition	(	type(masterslavejointtype), intent(inout)	joint,
		integer, intent(out)	ierr
	)

Updates dependent triad position and the dependent variables.

To counteract any nonlinearities that are trying to move the triad away from its constrained position, we have to move it to the correct position.

Author

Karl Erik Thoresen / Bjorn Haugen

Date

Des 1999

Author

Bjorn Haugen

Date

Oct 2000

setspringstatus()

subroutine masterslavejointroutinesmodule::setspringstatus	(	type(jointdoftype), dimension(:), intent(inout)	jDOFs,
		type(slidertype), intent(in)	slider
	)

Sets the status of contact springs past ends and outside the active radius region for Cam joints.

Author

Bjorn Haugen

Date

12 Apr 2001

updatedependencies()

subroutine, public masterslavejointroutinesmodule::updatedependencies	(	type(masterslavejointtype), intent(inout)	joint,
		type(motiontype), dimension(:), intent(in)	motions
	)

Updatea the linear dependencies in a joint.

The linear dependencies are stores in the TTCC table in SAM. Prescribed motions in joint triad DOFs and/or directly in the joint DOFs are accounted for by multiplying the current prescribed value with the associated terms of the joint constraint equations, and adding the results to the constant term of the constraint equations (stored in TCC(1) for each dependent DOF).

Author

Karl Erik Thoresen

Date

27 Sep 1998

Author

Knut Morten Okstad

Date

12 Oct 2004

updatejoints()

subroutine, public masterslavejointroutinesmodule::updatejoints	(	type(masterslavejointtype), dimension(:), intent(inout)	joints,
		type(motiontype), dimension(:), intent(in)	motions,
		integer, intent(inout)	ierr
	)

Updates joint triad positions and associated constraint variables.

Author

Karl Erik Thoresen

Date

Nov 1999

Author

Bjorn Haugen

Date

Sep 2000

Author

Knut Morten Okstad

Date

May 2008

Variable Documentation

epszero_p

real(dp), parameter masterslavejointroutinesmodule::epszero_p = 1.0e-15_dp

Zero tolerance.