452 – Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.FullRobot

            The model has the same number of unknowns and equations: 4933
The model has the same number of unknowns and equations:
  4897+6*max([size(pathPlanning.path.q_begin, 1); size(pathPlanning.path.q_end, 1);   size(pathPlanning.path.qd_max, 1); size(pathPlanning.path.qdd_max, 1)])
Check of <a href="Modelica://Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.FullRobot">Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.FullRobot</a> successful.


        

             = true
Translation of Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.FullRobot:
The DAE has 4933 scalar unknowns and 4933 scalar equations.
 
Statistics
 
Original Model
  Number of components: 478
  Variables: 4418
  Constants: 55 (55 scalars)
  Parameters: 1338 (1979 scalars)
  Unknowns: 3025 (4933 scalars)
  Differentiated variables: 254 scalars
  Equations: 2404
  Nontrivial: 1767
Translated Model
  Constants: 2089 scalars
  Free parameters: 547 scalars
  Parameter depending: 823 scalars
  Continuous time states: 36 scalars
  Time-varying variables: 743 scalars
  Alias variables: 2765 scalars
  Number of mixed real/discrete systems of equations: 4
  Sizes of linear systems of equations: {137, 4, 3, 4, 3, 4, 3, 3, 3, 3}
  Sizes after manipulation of the linear systems: {6, 0, 0, 0, 0, 0, 0, 0, 0, 0}
  Sizes of nonlinear systems of equations: { }
  Sizes after manipulation of the nonlinear systems: { }
  Number of numerical Jacobians: 0
  Initialization problem
    Number of mixed real/discrete systems of equations: 6
    Sizes of linear systems of equations: {3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3}
    Sizes after manipulation of the linear systems: {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
 
Settings
Advanced.StoreProtectedVariables = true
Selected continuous time states
Statically selected continuous time states
  axis1.controller.PI.x
  axis1.gear.spring.phi_rel
  axis1.gear.spring.w_rel
  axis1.motor.C.v
  axis1.motor.La.i
  axis2.controller.PI.x
  axis2.gear.spring.phi_rel
  axis2.gear.spring.w_rel
  axis2.motor.C.v
  axis2.motor.La.i
  axis3.controller.PI.x
  axis3.gear.spring.phi_rel
  axis3.gear.spring.w_rel
  axis3.motor.C.v
  axis3.motor.La.i
  axis4.controller.PI.x
  axis4.motor.C.v
  axis4.motor.La.i
  axis5.controller.PI.x
  axis5.motor.C.v
  axis5.motor.La.i
  axis6.controller.PI.x
  axis6.motor.C.v
  axis6.motor.La.i
  mechanics.r1.phi
  mechanics.r1.w
  mechanics.r2.phi
  mechanics.r2.w
  mechanics.r3.phi
  mechanics.r3.w
  mechanics.r4.phi
  mechanics.r4.w
  mechanics.r5.phi
  mechanics.r5.w
  mechanics.r6.phi
  mechanics.r6.w
 
        

            
axis1.controller.PI.x
axis1.gear.spring.phi_rel
axis1.gear.spring.w_rel
axis1.motor.C.v
axis1.motor.La.i
axis2.controller.PI.x
axis2.gear.spring.phi_rel
axis2.gear.spring.w_rel
axis2.motor.C.v
axis2.motor.La.i
axis3.controller.PI.x
axis3.gear.spring.phi_rel
axis3.gear.spring.w_rel
axis3.motor.C.v
axis3.motor.La.i
axis4.controller.PI.x
axis4.motor.C.v
axis4.motor.La.i
axis5.controller.PI.x
axis5.motor.C.v
axis5.motor.La.i
axis6.controller.PI.x
axis6.motor.C.v
axis6.motor.La.i
mechanics.r1.phi
mechanics.r1.w
mechanics.r2.phi
mechanics.r2.w
mechanics.r3.phi
mechanics.r3.w
mechanics.r4.phi
mechanics.r4.w
mechanics.r5.phi
mechanics.r5.w
mechanics.r6.phi
mechanics.r6.w
        

            Log-file of program ./dymosim
(generated: Tue May  5 02:06:40 2020)

dymosim started
... "dsin.txt" loading (dymosim input file)
... "FullRobot.mat" creating (simulation result file)

Integration started at T = 0 using integration method DASSL
(DAE multi-step solver (dassl/dasslrt of Petzold modified by Dassault Systemes))
Simulation successfully terminated
... End condition reached
Integration terminated successfully at T = 1.856045002
   CPU-time for integration                : 0.501 seconds
   CPU-time for one grid interval          : 0.108 milliseconds
   CPU-time for initialization             : 0.002 seconds
   Number of result points                 : 4737
   Number of grid points                   : 4642
   Number of accepted steps                : 3899
   Number of f-evaluations (dynamics)      : 7487
   Number of crossing function evaluations : 8856
   Number of Jacobian-evaluations          : 530
   Number of model time events             : 4
   Number of input time events             : 0
   Number of state events                  : 44
   Number of step events                   : 0
   Minimum integration stepsize            : 1.63e-10
   Maximum integration stepsize            : 0.009
   Maximum integration order               : 5
Calling terminal section
... "dsfinal.txt" creating (final states)