Free Motion

A free motion joint creates a point that is translated by three component coordinates defined in the reference frame, and a frame that is rotated relative to an existing frame using a quaternion to define its orientation. Initial quaternion values are defined using an equivalent Euler angle sequence.

Keyword Arguments

param str name

Name given to the joint, default is uppercase characters in alphabetical order (A, B, C, …)

param str ref_point_key

Start point from which the vector component of the joint is defined

param str ref_frame_key

Reference frame in which the translational and rotational displacement components are defined

param str rotation_sequence

‘ZYX’, ‘XYZ’, ‘ZXZ’, ‘ZYZ’, ‘XYX’, or ‘XZX’, represents the Euler angle sequence used for defining equivalent initial quaternion states

Initial Values

param numeric initial_t0

Initial value for displacement in the x-axis of the reference frame

param numeric initial_t1

Initial value for displacement in the y-axis of the reference frame

param numeric initial_t2

Initial value for displacement in the z-axis of the reference frame

param numeric initial_r0

Initial value for the 0^{th} rotation angle in the Euler sequence

param numeric initial_r1

Initial value for the 1^{st} rotation angle in the Euler sequence

param numeric initial_r2

Initial value for the 2^{nd} rotation angle in the Euler sequence

param numeric rate_t0

Initial value for the velocity component in the x-axis of the created frame

param numeric rate_t1

Initial value for the velocity component in the y-axis of the created frame

param numeric rate_t2

Initial value for the velocity component in the z-axis of the created frame

param numeric rate_r0

Initial value for angular rotation rate about the x-axis of the created frame

param numeric rate_r1

Initial value for angular rotation rate about the y-axis of the created frame

param numeric rate_r2

Initial value for angular rotation rate about the z-axis of the created frame