Welcome to the Pendulum-Spring Tutorial for Robotran!

This tutorial is available in the following programming languages: Python, C and Matlab.

Contents

Install

• Installation instructions

Modelling features

• Introduction
• Create a new project
• Bodies and joints
• Links
• Cuts
• Driven variables
• Sensors
• External forces
• User constraints
• User derivatives
• Tips and tricks

Specific features

• Introduction
• Representation of 3D forces
• Insert submodel
• Link 3D
• Advanced user constraints
• User model structures
• User model Look-Up-Tables

Modules

• Introduction
• Equilibrium
• Modal analysis
• Direct dynamics analysis
• Inverse dynamics
• Results files explanation