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DYNAMICS
useful in combination with the „TCP Ext. Force“ feature of the Dynamics-Sub-menu (see
Chapter 16.3.2 Dynamics Sub-menu). Only the components that correspond to the motor
torques/forces are displayed (z-component of the torque for rotational DOF, z-component of
the force for tranlational DOF). This is for example very useful for force feedback applications where these torque components can be used to control motors. The default values can
be found in the „.kismetrc“-file in the current kis_home directory.
• Diagnostics:
Only for development purpose.
• FILE Output:
Output of different user definable values into a file during a dynamic simulation. This
function contains 2 defined configurations with default values specially chosen for Directand Inverse- Dynamics and one function enabling the user to define his own configuration
with variables of interest.
Figure 61: File Output Panel
• Status [On/Off]:
Defines whether the chosen variables will be written out into a file during the dynamic
simulation or not.
• Dir. Dyn.:
s(t) will be saved in a file.
• Ind. Dyn.:
s(t), v(t), a(t) and t(t) will be saved in a file.
• User Def.:
A user defined set of variables will be saved in a file. The user can select a set of variables created and saved earlier or create a new file („.diag“-file).
Usage:
After selecting "User Def" a file selection menu displaying already existing „.diag“.
files will be shown. The user can
a) select a file and leave the selection menu with "Accept" or
b) the user can leave the selection menu with" Cancel" in order to create a new
KISMET User Manual Page 106