SimTK Initial Velocity Analysis:

Simbody is useful for internal coordinate and coarse grained molecule modeling, large scale mechanical models like skeletons, and anything else that can be modeled as bodies interconnected by joints, acted upon by forces, and restricted by constraints.
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Musa Audu
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Joined: Mon Nov 24, 2008 11:30 am

SimTK Initial Velocity Analysis:

Post by Musa Audu » Wed Jul 17, 2024 1:14 pm

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
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Michael Sherman
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Re: SimTK Initial Velocity Analysis:

Post by Michael Sherman » Wed Jul 17, 2024 1:44 pm

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
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Musa Audu
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Re: SimTK Initial Velocity Analysis:

Post by Musa Audu » Wed Jul 17, 2024 1:58 pm

Great! Thanks Sherm. I'll look into that. I appreciate your help.
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