Sudeep, The only thing I can think of to look it is how people do this in other dynamics software. Many of them let the user define a system based on descriptions of rigid bodies and different joint types. That description is the used to define the mathematics of the kinematics. The software Simbody does it, for example: https://github.com/simbody/simbody You can see that the concept of a "mobilizer" is used.
Jason moorepants.info +01 530-601-9791 On Wed, Feb 10, 2021 at 1:51 PM Sudeep Sidhu <[email protected]> wrote: > Jason, > > I went through the previous JointsMethod work, I think it would be wise to > complete the previous 2 PRs of Joint Methods because it contains some good > work and completing them would take less time rather than starting from > scratch. > Please refer a source to read more about Joints and JointsMethod. > > Sudeep Sidhu > > > > > On Tue, 9 Feb 2021, 18:19 Sudeep Sidhu, <[email protected]> > wrote: > >> Jason, >> >> I'm comfortable in implementing JointsMethod and it has some previous >> work done too (unmerged GSoC work). All I would need is some guidance with >> concepts if I get stuck somewhere and a good source to read about >> JointsMethod. I have some knowledge of dynamics too so I think I can >> implement it. >> >> Sudeep Sidhu >> >> On Tue, 9 Feb 2021, 15:28 Jason Moore, <[email protected]> wrote: >> >>> I personally think completing the JointsMethod is of higher priority >>> than the FeatherStone method. The JointsMethod would open up the use of the >>> library to a much wider set of users because they will be able to construct >>> models with less knowledge of the underlying mathematics. For example, a >>> double compound pendulum could be created like this: >>> >>> ground = RigidBody(...) >>> upper_link = RigidBody(...) >>> lower_link = RigidBody(...) >>> >>> base_joint = PinJoin(ground, lower_link, ...) >>> intermediate_joint = PinJoint(lower_link, upper_link, ...) >>> >>> joint_method = JointMethod((base_joint, intermediate_joint), ...) >>> >>> equations_of_motion = joint_method.generate_eoms(...) >>> >>> Jason >>> moorepants.info >>> +01 530-601-9791 >>> >> -- > You received this message because you are subscribed to the Google Groups > "sympy" group. > To unsubscribe from this group and stop receiving emails from it, send an > email to [email protected]. > To view this discussion on the web visit > https://groups.google.com/d/msgid/sympy/CAJUjCNnYjAqYz6z_sSum_-WLAGwP0FNotfSQvwxotNKcqqqs_A%40mail.gmail.com > <https://groups.google.com/d/msgid/sympy/CAJUjCNnYjAqYz6z_sSum_-WLAGwP0FNotfSQvwxotNKcqqqs_A%40mail.gmail.com?utm_medium=email&utm_source=footer> > . > -- You received this message because you are subscribed to the Google Groups "sympy" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. To view this discussion on the web visit https://groups.google.com/d/msgid/sympy/CAP7f1Aj2h_Q0%2BbP2HvpON3VaqctVjiuAXdO2YZJs_bWd%3D6iHDw%40mail.gmail.com.
