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SimTK Initial Velocity Analysis:

Posted: Wed Jul 17, 2024 1:14 pm
by mlaudu
Is there a SimTK function to do initial velocity analysis for a closed-loop system? Something similar to sdinitvel function of good old SDFAST?
Thanks.
Musa

Re: SimTK Initial Velocity Analysis:

Posted: Wed Jul 17, 2024 1:44 pm
by sherm
Sadly, no. There is a nice Assembly analysis in Simbody but no InitialVelocity analysis (there should be!)

You can work around that by adding a velocity constraint (or Motion object) to one of the dofs (assuming a net-1-dof system). Then constraint projection will figure out all the other velocities.

See System::projectU() and related functions.

Regards,
Sherm

Re: SimTK Initial Velocity Analysis:

Posted: Wed Jul 17, 2024 1:58 pm
by mlaudu
Great! Thanks Sherm. I'll look into that. I appreciate your help.