This project provides an MPS language for describing systems in terms of component classes, component instances and connections between component ports.
TODO More Overview
This project includes a model for a simple hypothetical robotic system. The system consists of three components:
- a joint-space trajectory generator
- an unspecific torque-based controller which accepts joint-space position and velocity feedback
- and a robot interface which accepts torque commands and provides joint-space position, velocity and acceleration measurements
The MPS model for this "hello word" system can be found in the HelloWord model within the Component.sandbox solution.
It contains three component descriptions:
JointConfigurationTrajectoryJointTrqConfigurationControllerRobotInterface
corresponding to the component types described above.
The MinimalJntTrqControlSystem model element describes the system in terms of component instances and connections between ports.