mahd/implementation/SCARA/03_motor/MR_dynamics2.emx

<?xml version="1.0" encoding="UTF-8"?>
<Document>
 <Model version="4.8" build="4.8.2.10124">
  <Sidops><![CDATA[model 128 184
 description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>0</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>C:\users\wouter\My Documents\studie\ma\mahd\implementation\SCARA\03_motor\MR_dynamics2.emx</LibraryPath>
  <TimeStamp>2020-7-19 14:01:30</TimeStamp>
</Description>
</Information>';
 type Mainmodel
 end;
 implementation bg
  submodels
   Base 392 296
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
  <AllowLibraryUpdate>True</AllowLibraryUpdate>
    <LibraryPath>Z:\home\wouter\Documents\20-sim\library\Bond Graph\MR\link.emx</LibraryPath>
  <TimeStamp>2020-7-16 14:21:54</TimeStamp>
<Description>Base</Description>
 </Description>
</Information>';
    type Submodel
     ports
      power out p [6,1];
      signal in Hin [4,4];
      power in p1 [6,1];
      signal out Hout [4,4];
     parameters
      real I[3,1] = [1.6399999999999998e-6; 4.7e-8; 1.61e-6] {N.m.s};
      real m = 0.00455 {kg};
      real COMdim[3,1] = [0.0; 0.0325; 0.0] {m};
      real dim[3,1] = [0.0; 0.065; 0.0] {m};
    end;
    icon bg bottom
     figures
      rectangle 360 224 424 368 color 0 fill 10025880;
      text 'Link' 392 296 color 0;
     terminals
      p 360 256 fixed;
      Hin 360 336 fixed;
      p1 424 256 fixed;
      Hout 424 336 fixed;
    end;
    implementation bg
     submodels
      AdHi0 544 416
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\MTF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:3</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type MTF
        ports
         power in p1 [6,1];
         power out p2 [6,1];
         signal in H [4,4];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg left
        figures
         text 'MTF' 544 416 color 0 18 bold;
       end;
       implementation eq
variables
 	real onlyRotH[4,4];
code
	//Only rotations with respect to the inertial system matter!
	onlyRotH = H;
	onlyRotH[1,4] = 0;
	onlyRotH[2,4] = 0;
	onlyRotH[3,4] = 0;
						
	p2.e = transpose(Adjoint(onlyRotH)) * p1.e;
	p1.f = Adjoint(onlyRotH) * p2.f;
implementation_end;
      AdHij 864 304
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\MTF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:3</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type MTF
        ports
         power out p1 [6,1];
         power in p2 [6,1];
         signal in H [4,4];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg top
        figures
         text 'MTF' 864 304 color 0 18 bold;
       end;
       implementation eq
equations
	//Only rotations with respect to the inertial system matter!
						
	p1.e = transpose(Adjoint(H)) * p2.e;
	p2.f = Adjoint(H) * p1.f;
implementation_end;
      AdHik 544 248
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\TF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:4:2</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type TF
        ports
         power in p1 [6,1];
         power out p2 [6,1];
        restrictions
         causality constraint not_equal p1 p2;
        parameters
         real COMdim[3,1] = [0.0; 0.0325; 0.0];
       end;
       icon bg left
        figures
         text 'TF' 544 248 color 0 18 bold;
       end;
       implementation eq
//Frame in joint connected to port 1
//Principal inertial frame connected in port 2
variables
	real d[3]; //distance between frames
	real R[3,3]; //rotation between frames

	real H[4,4]; //homogeneous matrix
	real AdH[6,6]; //Adjoint of homogeneous matrix
equations
	d = COMdim; //distance of 1 in z direction of frames
	R = eye(3); //no rotation

	H = homogeneous(R,d);
	AdH = Adjoint(H);

	p1.f = AdH * p2.f; 
	p2.e = transpose(AdH) * p1.e;
implementation_end;
      AdHik1 544 360
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\TF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:4:2</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type TF
        ports
         power in p1 [6,1];
         power out p2 [6,1];
        restrictions
         causality constraint not_equal p1 p2;
        parameters
         real COMdim[3,1] = [0.0; 0.0325; 0.0];
       end;
       icon bg left
        figures
         text 'TF' 544 360 color 0 18 bold;
       end;
       implementation eq
//Frame in joint connected to port 1
//Principal inertial frame connected in port 2
variables
	real d[3]; //distance between frames
	real R[3,3]; //rotation between frames

	real H[4,4]; //homogeneous matrix
	real AdH[6,6]; //Adjoint of homogeneous matrix
equations
	d = COMdim; //distance of 1 in z direction of frames
	R = eye(3); //no rotation

	H = homogeneous(R,d);
	AdH = Adjoint(H);

	p1.f = AdH * p2.f; 
	p2.e = transpose(AdH) * p1.e;
implementation_end;
      EJS 608 184
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\MGY.emx</LibraryPath>
 <TimeStamp>2007-10-31 11:43:6</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type MGY
        ports
         power in p1 [6,1];
        parameters
         real I[3,1] = [1.6399999999999998e-6; 4.7e-8; 1.61e-6];
         real m = 0.00455;
       end;
       icon bg top
        figures
         text 'MGY' 608 184 color 0 18 bold;
       end;
       implementation eq
//EJS / Gyroscopic effects
variables
	real II[6,6]; //Inertial tensor
	real Q[6,6];
	real QI[6,6];
	real v[3];
	real omega[3];
equations
	II = [	I[1],0,	0,	0,	0,	0;
			0,	I[2],0,	0,	0,	0;
			0,	0,	I[3],0,	0,	0;
			0,	0,	0,	m,	0,	0;
			0,	0,	0,	0,	m,	0;
			0,	0,	0,	0,	0,	m];
	v[1:3] = p1.f[4:6];
	omega[1:3] = p1.f[1:3];

	Q[1:3,1:3] = -skew(omega);
	Q[1:3,4:6] = -skew(v);
	Q[4:6,1:3] = [0,0,0;0,0,0;0,0,0];//matrix filled with zeros
	Q[4:6,4:6] = -skew(omega);
	QI = Q*II;

	p1.e = QI*p1.f;implementation_end;
      Gravity 656 416
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\Se.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:26</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type Se
        ports
         power out p [6,1];
        restrictions
         causality fixed out p;
        parameters
         real m = 0.00455;
       end;
       icon bg bottom
        figures
         text 'Se' 656 416 color 0 18 bold;
       end;
       implementation eq
variables
	real effort[6];
equations
	effort = [0;0;0;0;0;-9.8*m];
	p.e = effort;
implementation_end;
      Hij 864 496
       description '<Description>
   <Version>4.1</Version>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>H.emx</LibraryPath>
  <TimeStamp>2010-9-21 15:03:50</TimeStamp>
<AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type Gain
        ports
         signal in input [4,4];
         signal out output [4,4];
         signal out Hab [4,4];
        parameters
         real dim[3,1] = [0.0; 0.065; 0.0];
       end;
       icon bg bottom
        figures
         rectangle 848.1 480 879.9 512 color 0 fill 15132390;
         text 'H' 864 496 color 16711680 16 bold;
       end;
       implementation eq
equations
	Hab = homogeneous(eye(3),dim);
	output = input * Hab;
    implementation_end;
      InertialTensor 480 184
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\I.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:2:12</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type I
        ports
         power in p [6,1];
         signal out state [6,1];
        restrictions
         causality preferred in p;
        parameters
         real m = 0.00455;
         real I[3,1] = [1.6399999999999998e-6; 4.7e-8; 1.61e-6];
       end;
       icon bg top
        figures
         text 'I' 480 184 color 0 18 bold;
       end;
       implementation eq
variables
	real II[6,6]; //Inertial tensor
equations
	II = [I[1],0,	0,	0,	0,	0;
			0,	I[2],0,	0,	0,	0;
			0,	0,	I[3],0,	0,	0;
			0,	0,	0,	m,	0,	0;
			0,	0,	0,	0,	m,	0;
			0,	0,	0,	0,	0,	m];

    state = int(p.e); //state = generalized momentum
    p.f = inverse(II)*state;
implementation_end;
      plug Hout 984 496;
      plug p1 984 304;
      plug Hin 472 496;
      plug p 472 304;
      Splitter1 544 496
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [4,4];
         signal knot in input [4,4];
       end;
       icon bg ellipse
        figures
         ellipse 540.8 492.8 547.2 499.2 color -1 fill 0;
         ellipse 539.7 491.7 548.3 500.3 color -1;
        terminals
         input 544 496 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Ta00 600 416
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:18</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       knot OneJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out flow [6,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg bottom
        figures
         text '1' 600 416 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      Ta0j 544 304
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:18</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
   <Description></Description>
</Description>';
       knot OneJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out flow [6,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg bottom
        figures
         text '1' 544 304 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      Ta0k 544 184
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:18</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
   <Description></Description>
</Description>';
       knot OneJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out flow [6,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg top
        figures
         text '1' 544 184 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
     end;
     connections
      AdHi0\p2 => AdHik1\p1;
      AdHij\p1 => Ta0j\p;
      AdHik\p2 => Ta0k\p;
      AdHik1\p2 => Ta0j\p;
      Gravity\p => Ta00\p;
      Hij\Hab -> AdHij\H;
      Hij\output -> Hout;
      Hin -> Splitter1\input;
      p <= Ta0j\p;
      p1 => AdHij\p2;
      Splitter1\output -> AdHi0\H;
      Splitter1\output -> Hij\input;
      Ta00\p => AdHi0\p1;
      Ta0j\p => AdHik\p1;
      Ta0k\p => EJS\p1;
      Ta0k\p => InertialTensor\p;
     end;
     parameterrelations
InertialTensor\I = I;
InterialTensor\m = m;
EJS\I = I;
EJS\m = m;
AdHik\COMdim = COMdim;
AdHik1\COMdim = COMdim;
Hij\dim = dim;
Gravity\m=m;parameterrelations_end;
     figures
      text 'b = current link (body)
a = previous link (body)
i = Body fixed frame, fixed in joint with previous link
j = Body fixed frame, fixed in joint with next link
k = Body fixed frame, principal inertial frame
0 = inertial system
 ' 288 280 color 0;
    implementation_end;
   Base1 584 296
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
  <AllowLibraryUpdate>True</AllowLibraryUpdate>
    <LibraryPath>Z:\home\wouter\Documents\20-sim\library\Bond Graph\MR\link.emx</LibraryPath>
  <TimeStamp>2020-7-16 14:21:54</TimeStamp>
<Description>Base</Description>
 </Description>
</Information>';
    type Submodel
     ports
      power out p [6,1];
      signal in Hin [4,4];
      power in p1 [6,1];
      signal out Hout [4,4];
     parameters
      real I[3,1] = [1.6399999999999998e-6; 4.7e-8; 1.61e-6] {N.m.s};
      real m = 0.00455 {kg};
      real COMdim[3,1] = [0.0; 0.025; 0.0] {m};
      real dim[3,1] = [0.0; 0.05; 0.0] {m};
    end;
    icon bg bottom
     figures
      rectangle 552 224 616 368 color 0 fill 10025880;
      text 'Link' 584 296 color 0;
     terminals
      p 552 256 fixed;
      Hin 552 336 fixed;
      p1 616 256 fixed;
      Hout 616 336 fixed;
    end;
    implementation bg
     submodels
      AdHi0 664 416
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\MTF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:3</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type MTF
        ports
         power in p1 [6,1];
         power out p2 [6,1];
         signal in H [4,4];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg left
        figures
         text 'MTF' 664 416 color 0 18 bold;
       end;
       implementation eq
variables
 	real onlyRotH[4,4];
code
	//Only rotations with respect to the inertial system matter!
	onlyRotH = H;
	onlyRotH[1,4] = 0;
	onlyRotH[2,4] = 0;
	onlyRotH[3,4] = 0;
						
	p2.e = transpose(Adjoint(onlyRotH)) * p1.e;
	p1.f = Adjoint(onlyRotH) * p2.f;
implementation_end;
      AdHij 816 304
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\MTF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:3</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type MTF
        ports
         power out p1 [6,1];
         power in p2 [6,1];
         signal in H [4,4];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg top
        figures
         text 'MTF' 816 304 color 0 18 bold;
       end;
       implementation eq
equations
	//Only rotations with respect to the inertial system matter!
						
	p1.e = transpose(Adjoint(H)) * p2.e;
	p2.f = Adjoint(H) * p1.f;
implementation_end;
      AdHik 664 248
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\TF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:4:2</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type TF
        ports
         power in p1 [6,1];
         power out p2 [6,1];
        restrictions
         causality constraint not_equal p1 p2;
        parameters
         real COMdim[3,1] = [0.0; 0.025; 0.0];
       end;
       icon bg left
        figures
         text 'TF' 664 248 color 0 18 bold;
       end;
       implementation eq
//Frame in joint connected to port 1
//Principal inertial frame connected in port 2
variables
	real d[3]; //distance between frames
	real R[3,3]; //rotation between frames

	real H[4,4]; //homogeneous matrix
	real AdH[6,6]; //Adjoint of homogeneous matrix
equations
	d = COMdim; //distance of 1 in z direction of frames
	R = eye(3); //no rotation

	H = homogeneous(R,d);
	AdH = Adjoint(H);

	p1.f = AdH * p2.f; 
	p2.e = transpose(AdH) * p1.e;
implementation_end;
      AdHik1 664 360
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\TF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:4:2</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type TF
        ports
         power out p1 [6,1];
         power in p2 [6,1];
        restrictions
         causality constraint not_equal p1 p2;
        parameters
         real COMdim[3,1] = [0.0; 0.025; 0.0];
       end;
       icon bg left
        figures
         text 'TF' 664 360 color 0 18 bold;
       end;
       implementation eq
//Principal inertial frame connected in port 2
variables
	real d[3]; //distance between frames
	real R[3,3]; //rotation between frames

	real H[4,4]; //homogeneous matrix
	real AdH[6,6]; //Adjoint of homogeneous matrix
equations
	d = COMdim; //distance of 1 in z direction of frames
	R = eye(3); //no rotation

	H = homogeneous(R,d);
	AdH = Adjoint(H);

	p1.f = AdH * p2.f; 
	p2.e = transpose(AdH) * p1.e;
implementation_end;
      EJS 728 184
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\MGY.emx</LibraryPath>
 <TimeStamp>2007-10-31 11:43:6</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type MGY
        ports
         power in p1 [6,1];
        parameters
         real I[3,1] = [7.583e-7; 3.6458e-8; 7.364583e-7];
         real m = 0.0035;
       end;
       icon bg top
        figures
         text 'MGY' 728 184 color 0 18 bold;
       end;
       implementation eq
//EJS / Gyroscopic effects
variables
	real II[6,6]; //Inertial tensor
	real Q[6,6];
	real QI[6,6];
	real v[3];
	real omega[3];
equations
	II = [	I[1],0,	0,	0,	0,	0;
			0,	I[2],0,	0,	0,	0;
			0,	0,	I[3],0,	0,	0;
			0,	0,	0,	m,	0,	0;
			0,	0,	0,	0,	m,	0;
			0,	0,	0,	0,	0,	m];
	v[1:3] = p1.f[4:6];
	omega[1:3] = p1.f[1:3];

	Q[1:3,1:3] = -skew(omega);
	Q[1:3,4:6] = -skew(v);
	Q[4:6,1:3] = [0,0,0;0,0,0;0,0,0];//matrix filled with zeros
	Q[4:6,4:6] = -skew(omega);
	QI = Q*II;

	p1.e = QI*p1.f;implementation_end;
      Gravity 776 416
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\Se.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:26</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type Se
        ports
         power out p [6,1];
        restrictions
         causality fixed out p;
        parameters
         real m = 0.0035;
       end;
       icon bg bottom
        figures
         text 'Se' 776 416 color 0 18 bold;
       end;
       implementation eq
variables
	real effort[6];
equations
	effort = [0;0;0;0;0;-9.8*m];
	p.e = effort;
implementation_end;
      Hij 816 496
       description '<Description>
   <Version>4.1</Version>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>H.emx</LibraryPath>
  <TimeStamp>2010-9-21 15:03:50</TimeStamp>
<AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type Gain
        ports
         signal in input [4,4];
         signal out output [4,4];
         signal out Hab [4,4];
        parameters
         real dim[3,1] = [0.0; 0.05; 0.0];
       end;
       icon bg bottom
        figures
         rectangle 800.1 480 831.9 512 color 0 fill 15132390;
         text 'H' 816 496 color 16711680 16 bold;
       end;
       implementation eq
equations
	Hab = homogeneous(eye(3),dim);
	output = input * Hab;
    implementation_end;
      InertialTensor 600 184
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\I.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:2:12</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type I
        ports
         power in p [6,1];
         signal out state [6,1];
        restrictions
         causality preferred in p;
        parameters
         real m = 0.0035;
         real I[3,1] = [7.583e-7; 3.6458e-8; 7.364583e-7];
       end;
       icon bg top
        figures
         text 'I' 600 184 color 0 18 bold;
       end;
       implementation eq
variables
	real II[6,6]; //Inertial tensor
equations
	II = [I[1],0,	0,	0,	0,	0;
			0,	I[2],0,	0,	0,	0;
			0,	0,	I[3],0,	0,	0;
			0,	0,	0,	m,	0,	0;
			0,	0,	0,	0,	m,	0;
			0,	0,	0,	0,	0,	m];

    state = int(p.e); //state = generalized momentum
    p.f = inverse(II)*state;
implementation_end;
      plug Hout 896 496;
      plug p1 904 304;
      plug Hin 592 496;
      plug p 592 304;
      Splitter1 664 496
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [4,4];
         signal knot in input [4,4];
       end;
       icon bg ellipse
        figures
         ellipse 660.8 492.8 667.2 499.2 color -1 fill 0;
         ellipse 659.7 491.7 668.3 500.3 color -1;
        terminals
         input 664 496 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Ta00 720 416
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:18</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       knot OneJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out flow [6,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg bottom
        figures
         text '1' 720 416 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      Ta0j 664 304
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:18</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
   <Description></Description>
</Description>';
       knot OneJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out flow [6,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg bottom
        figures
         text '1' 664 304 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      Ta0k 664 184
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:18</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
   <Description></Description>
</Description>';
       knot OneJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out flow [6,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg top
        figures
         text '1' 664 184 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
     end;
     connections
      AdHi0\p2 => AdHik1\p2;
      AdHik\p2 => Ta0k\p;
      Gravity\p => Ta00\p;
      Hij\Hab -> AdHij\H;
      Hij\output -> Hout;
      Hin -> Splitter1\input;
      p <= Ta0j\p;
      p1 => AdHij\p2;
      Splitter1\output -> AdHi0\H;
      Splitter1\output -> Hij\input;
      Ta00\p => AdHi0\p1;
      Ta0j\p <= AdHij\p1;
      Ta0j\p <= AdHik1\p1;
      Ta0j\p => AdHik\p1;
      Ta0k\p => EJS\p1;
      Ta0k\p => InertialTensor\p;
     end;
     parameterrelations
InertialTensor\I = I;
InterialTensor\m = m;
EJS\I = I;
EJS\m = m;
AdHik\COMdim = COMdim;
AdHik1\COMdim = COMdim;
Hij\dim = dim;
Gravity\m=m;parameterrelations_end;
     figures
      text 'b = current link (body)
a = previous link (body)
i = Body fixed frame, fixed in joint with previous link
j = Body fixed frame, fixed in joint with next link
k = Body fixed frame, principal inertial frame
0 = inertial system
 ' 288 280 color 0;
    implementation_end;
   Base2 888 504
    description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><AllowLibraryUpdate>True</AllowLibraryUpdate><LibraryPath>Bond Graph\MR\center_of_mass.emx</LibraryPath><TimeStamp>2020-7-17 13:52:18</TimeStamp><Description>Base</Description></Description><Attributes><GlobalRelations>parameters
	real I [3,1] = [1.6399999999999998e-6; 4.7e-8; 1.61e-6] {N.m.s};
	real m = 0.00455 {kg};</GlobalRelations></Attributes></Information>';
    type Submodel
     ports
      power out p [6,1];
      signal in Hin [4,4];
      power in p1 [6,1];
      signal out Hout [4,4];
    end;
    icon bg bottom
     figures
      rectangle 856 464 920 544 color 0 fill 255;
      text 'COM' 888 488 color 0;
     terminals
      p 856 480 fixed;
      Hin 856 528 fixed;
      p1 920 480 fixed;
      Hout 920 528 fixed;
    end;
    implementation bg
     submodels
      AdHi0 544 400
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\MTF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:3</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type MTF
        ports
         power in p1 [6,1];
         power out p2 [6,1];
         signal in H [4,4];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg left
        figures
         text 'MTF' 544 400 color 0 18 bold;
       end;
       implementation eq
variables
 	real onlyRotH[4,4];
code
	//Only rotations with respect to the inertial system matter!
	onlyRotH = H;
	onlyRotH[1,4] = 0;
	onlyRotH[2,4] = 0;
	onlyRotH[3,4] = 0;
						
	p2.e = transpose(Adjoint(onlyRotH)) * p1.e;
	p1.f = Adjoint(onlyRotH) * p2.f;
implementation_end;
      EJS 616 256
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\MGY.emx</LibraryPath>
 <TimeStamp>2007-10-31 11:43:6</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type MGY
        ports
         power in p1 [6,1];
       end;
       icon bg top
        figures
         text 'MGY' 616 256 color 0 18 bold;
       end;
       implementation eq
//EJS / Gyroscopic effects
parameters
	real global I[3];
	real global m;
variables
	real II[6,6]; //Inertial tensor
	real Q[6,6];
	real QI[6,6];
	real Ia[6];
initialequations
	Ia[1:3] = I;
	Ia[4:6] = m;
	II = diag(Ia);
equations
	Q = transpose(adjoint(p1.f));
	QI = Q*II;
	p1.e = QI*p1.f;implementation_end;
      Gravity 616 400
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\Se.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:26</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type Se
        ports
         power out p [6,1];
        restrictions
         causality fixed out p;
       end;
       icon bg bottom
        figures
         text 'Se' 616 400 color 0 18 bold;
       end;
       implementation eq
parameters
	real global m;
variables
	real effort[6];
equations
	effort = [0;0;0;0;0;-g_n*m];
	p.e = effort;
implementation_end;
      InertialTensor 480 256
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\I.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:2:12</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type I
        ports
         power in p [6,1];
         signal out state [6,1];
        restrictions
         causality preferred in p;
       end;
       icon bg top
        figures
         text 'I' 480 256 color 0 18 bold;
       end;
       implementation eq
parameters
	real global I[3];
	real global m;
variables
	real II[6,6]; //Inertial tensor
	real Ia[6];
initialequations
	Ia[1:3] = I;
	Ia[4:6] = m;
	II = diag(Ia);
equations
    state = int(p.e); //state = generalized momentum
    p.f = inverse(II)*state;
implementation_end;
      plug Hin 472 496;
      plug p1 752 304;
      plug Hout 768 496;
      plug p 472 304;
      Splitter1 544 496
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [4,4];
         signal knot in input [4,4];
       end;
       icon bg ellipse
        figures
         ellipse 540.8 492.8 547.2 499.2 color -1 fill 0;
         ellipse 539.7 491.7 548.3 500.3 color -1;
        terminals
         input 544 496 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Ta0j 544 304
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:18</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
   <Description></Description>
</Description>';
       knot OneJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out flow [6,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg bottom
        figures
         text '1' 544 304 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      Ta0k 544 256
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:18</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
   <Description></Description>
</Description>';
       knot OneJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out flow [6,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg top
        figures
         text '1' 544 256 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
     end;
     connections
      AdHi0\p2 => Ta0j\p;
      Gravity\p => AdHi0\p1;
      Hin -> Splitter1\input;
      p <= Ta0j\p;
      p1 => Ta0j\p;
      Splitter1\output -> AdHi0\H;
      Splitter1\output -> Hout;
      Ta0j\p => Ta0k\p;
      Ta0k\p => EJS\p1;
      Ta0k\p => InertialTensor\p;
     end;
     parameterrelations
InertialTensor\I = I;
InterialTensor\m = m;
EJS\I = I;
EJS\m = m;
AdHik\COMdim = COMdim;
AdHik1\COMdim = COMdim;
Hij\dim = dim;
Gravity\m=m;parameterrelations_end;
     figures
      text 'b = current link (body)
a = previous link (body)
i = Body fixed frame, fixed in joint with previous link
j = Body fixed frame, fixed in joint with next link
k = Body fixed frame, principal inertial frame
0 = inertial system
 ' 288 280 color 0;
    implementation_end;
   Base3 544 504
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
  <AllowLibraryUpdate>True</AllowLibraryUpdate>
    <LibraryPath>Bond Graph\MR\center_of_mass.emx</LibraryPath>
  <TimeStamp>2020-7-17 13:52:18</TimeStamp>
<Description>Base</Description>
 </Description>
</Information>';
    type Submodel
     ports
      power out p [6,1];
      signal in Hin [4,4];
      power in p1 [6,1];
      signal out Hout [4,4];
    end;
    icon bg bottom
     figures
      rectangle 512 464 576 544 color 0 fill 255;
      text 'COM' 544 488 color 0;
     terminals
      p 512 480 fixed;
      Hin 512 528 fixed;
      p1 576 480 fixed;
      Hout 576 528 fixed;
    end;
    implementation bg
     submodels
      AdHi0 544 400
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\MTF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:3</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type MTF
        ports
         power in p1 [6,1];
         power out p2 [6,1];
         signal in H [4,4];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg left
        figures
         text 'MTF' 544 400 color 0 18 bold;
       end;
       implementation eq
variables
 	real onlyRotH[4,4];
code
	//Only rotations with respect to the inertial system matter!
	onlyRotH = H;
	onlyRotH[1,4] = 0;
	onlyRotH[2,4] = 0;
	onlyRotH[3,4] = 0;
						
	p2.e = transpose(Adjoint(onlyRotH)) * p1.e;
	p1.f = Adjoint(onlyRotH) * p2.f;
implementation_end;
      EJS 616 256
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\MGY.emx</LibraryPath>
 <TimeStamp>2007-10-31 11:43:6</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type MGY
        ports
         power in p1 [6,1];
        parameters
         real I[3,1] = [1.6399999999999998e-6; 4.7e-8; 1.61e-6];
         real m = 0.00455;
       end;
       icon bg top
        figures
         text 'MGY' 616 256 color 0 18 bold;
       end;
       implementation eq
//EJS / Gyroscopic effects
variables
	real II[6,6]; //Inertial tensor
	real Q[6,6];
	real QI[6,6];
	real Ia[6];
initialequations
	Ia[1:3] = I;
	Ia[4:6] = m;
	II = diag(Ia);
equations
	Q = transpose(adjoint(p1.f));
	QI = Q*II;
	p1.e = QI*p1.f;implementation_end;
      Gravity 616 400
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\Se.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:26</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type Se
        ports
         power out p [6,1];
        restrictions
         causality fixed out p;
        parameters
         real m = 0.00455;
       end;
       icon bg bottom
        figures
         text 'Se' 616 400 color 0 18 bold;
       end;
       implementation eq
variables
	real effort[6];
equations
	effort = [0;0;0;0;0;-g_n*m];
	p.e = effort;
implementation_end;
      InertialTensor 472 256
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\I.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:2:12</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type I
        ports
         power in p [6,1];
         signal out state [6,1];
        restrictions
         causality preferred in p;
        parameters
         real m = 0.00455;
         real I[3,1] = [1.6399999999999998e-6; 4.7e-8; 1.61e-6];
       end;
       icon bg top
        figures
         text 'I' 472 256 color 0 18 bold;
       end;
       implementation eq
variables
	real II[6,6]; //Inertial tensor
equations
	II = [I[1],0,	0,	0,	0,	0;
			0,	I[2],0,	0,	0,	0;
			0,	0,	I[3],0,	0,	0;
			0,	0,	0,	m,	0,	0;
			0,	0,	0,	0,	m,	0;
			0,	0,	0,	0,	0,	m];

    state = int(p.e); //state = generalized momentum
    p.f = inverse(II)*state;
implementation_end;
      plug Hin 472 496;
      plug p1 616 304;
      plug Hout 616 496;
      plug p 472 304;
      Splitter1 544 496
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [4,4];
         signal knot in input [4,4];
       end;
       icon bg ellipse
        figures
         ellipse 540.8 492.8 547.2 499.2 color -1 fill 0;
         ellipse 539.7 491.7 548.3 500.3 color -1;
        terminals
         input 544 496 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Ta0j 544 304
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:18</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
   <Description></Description>
</Description>';
       knot OneJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out flow [6,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg bottom
        figures
         text '1' 544 304 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      Ta0k 544 256
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:18</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
   <Description></Description>
</Description>';
       knot OneJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out flow [6,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg top
        figures
         text '1' 544 256 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
     end;
     connections
      AdHi0\p2 => Ta0j\p;
      Gravity\p => AdHi0\p1;
      Hin -> Splitter1\input;
      p <= Ta0j\p;
      p1 => Ta0j\p;
      Splitter1\output -> AdHi0\H;
      Splitter1\output -> Hout;
      Ta0j\p => Ta0k\p;
      Ta0k\p => EJS\p1;
      Ta0k\p => InertialTensor\p;
     end;
     parameterrelations
InertialTensor\I = I;
InterialTensor\m = m;
EJS\I = I;
EJS\m = m;
AdHik\COMdim = COMdim;
AdHik1\COMdim = COMdim;
Hij\dim = dim;
Gravity\m=m;parameterrelations_end;
     figures
      text 'b = current link (body)
a = previous link (body)
i = Body fixed frame, fixed in joint with previous link
j = Body fixed frame, fixed in joint with next link
k = Body fixed frame, principal inertial frame
0 = inertial system
 ' 288 280 color 0;
    implementation_end;
   Constant 168 336
    description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Signal\Sources\Constant.emx</LibraryPath>
 <TimeStamp>2007-10-19 14:48:44</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
    type Constant
     ports
      signal out output [4,4];
    end;
    icon bg bottom
     figures
      rectangle 152.1 320 183.9 352 color 0 fill 15132390;
      line 156.9 331.6 178.9 331.6 color 16711680 width 2;
      line 154.2 342.7 179.9 342.7 color 0;
      line 156.5 326.7 156.5 345 color 0;
    end;
    implementation eq
equations
	output = eye(4);
     implementation_end;
   Constant1 296 48
    description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Sources\Constant.emx</LibraryPath>
  <TimeStamp>2007-10-19 14:48:44</TimeStamp>
</Description>';
    type Constant
     ports
      signal out output;
    end;
    icon bg bottom
     figures
      rectangle 280.1 32 311.9 64 color 0 fill 15132390;
      line 284.9 43.6 306.9 43.6 color 16711680 width 2;
      line 282.2 54.7 307.9 54.7 color 0;
      line 284.5 38.7 284.5 57 color 0;
    end;
    implementation eq
parameters
	real C = 1.0;		// output value
equations
	output = C;
     implementation_end;
   Constant2 480 688
    description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Sources\Constant.emx</LibraryPath>
  <TimeStamp>2007-10-19 14:48:44</TimeStamp>
</Description>';
    type Constant
     ports
      signal out output;
    end;
    icon bg bottom
     figures
      rectangle 464.1 672 495.9 704 color 0 fill 15132390;
      line 468.9 683.6 490.9 683.6 color 16711680 width 2;
      line 466.2 694.7 491.9 694.7 color 0;
      line 468.5 678.7 468.5 697 color 0;
    end;
    implementation eq
parameters
	real C = 1.0;		// output value
equations
	output = C;
     implementation_end;
   Joint 384.1 502
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
  <AllowLibraryUpdate>True</AllowLibraryUpdate>
    <LibraryPath>Bond Graph\MR\joint-v2.emx</LibraryPath>
  <TimeStamp>2020-7-17 15:47:03</TimeStamp>
</Description>
</Information>';
    type 'Submodel-rotz'
     ports
      power out p [6,1];
      power in p1;
      power in p2 [6,1];
      signal in Hin [4,4];
      signal out Hout [4,4];
    end;
    icon bg bottom
     figures
      rectangle 352.2 464 416 540 color 0 fill 14745599;
      text 'Joint' 384 496 color 0;
     terminals
      p 352 480 fixed;
      p1 384 464 fixed;
      p2 416 480 fixed;
      Hin 352 528 fixed;
      Hout 416 528 fixed;
    end;
    implementation bg
     submodels
      AdHji 416 328
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\MTF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:3</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type MTF
        ports
         power out p1 [6,1];
         power in p2 [6,1];
         signal in H [4,4];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg bottom
        figures
         text 'MTF' 416 328 color 0 18 bold;
       end;
       implementation eq
equations					
	p2.e = transpose(Adjoint(H)) * p1.e;
	p1.f = Adjoint(H) * p2.f;implementation_end;
      JointType 232 216
       description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><AllowLibraryUpdate>True</AllowLibraryUpdate></Description><Attributes><GlobalRelations>parameters
	real joint = 3;</GlobalRelations></Attributes></Information>';
       type Submodel
        ports
         mechanical in p1;
         signal out output [4,4];
         power out p2 [6,1];
       end;
       implementation bg
        submodels
         Integrate 320 272
          description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>
 <TimeStamp>2007-9-26 12:3:23</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
          type Integrate
           ports
            signal in input;
            signal out output [4,4];
           parameters
            real init = -2.9496;
          end;
          icon bg
           figures
            rectangle 304 256 336 288 color 0 fill 15132390;
            text 'ò' 320 269.3 color 16711680 'SymbolProp BT' 21 symbol;
          end;
          implementation eq
parameters
	real global joint;
variables
	real R[3,3];
	real p[3];
	real q;
	real qa[6];
	real temp [4,4];
initialequations
	qa = 0;
equations
q = -int(input,init);
qa[joint] = q;
R =  dll('EulerAngles.dll','RotationMatrixFromEulXYZs',qa);
output = homogeneous(R,qa[4:6]);implementation_end;
         plug p1 240 188;
         plug output 320 368;
         plug p2 240 412;
         OneJunction2 240 271.9
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:50:53</TimeStamp>
</Description>
</Information>';
          knot FlowSensor
           ports
            mechanical knot in p1 [1];
            power knot out p2 [1];
            signal knot out flow [1];
           restrictions
            causality constraint not_equal p1 p2;
          end;
          icon bg ellipse
           figures
            ellipse 233.1 264.8 246.9 279.1 color 0 fill 16777215;
            text 'f' 240 271.2 color 0;
          end;
          implementation eq
equations
	p2.f = p1.f;
	p1.e = p2.e;
	flow = p1.f;
implementation_end;
         uTbai 240 328
          description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\TF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:4:2</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
          type TF
           ports
            power in p1;
            power out p2 [6,1];
           restrictions
            causality constraint not_equal p1 p2;
            causality fixed in p1;
            causality fixed out p2;
           parameters
            real Cconstraint = 1.0e-4;
            real Rconstraint = 1000.0;
          end;
          icon bg left
           figures
            text 'TF' 240 328 color 0 18 bold;
          end;
          implementation eq
parameters
	real global joint;
variables
	real i;
	real state[6];
equations
	/*p2.e[1] = (Rconstraint*-p2.f[1] + int(-p2.f[1])/Cconstraint);
	p2.e[2] = (Rconstraint*-p2.f[2] + int(-p2.f[2])/Cconstraint);
	p2.e[3] = p1.e;
	p2.e[4] = (Rconstraint*-p2.f[4] + int(-p2.f[4])/Cconstraint);
	p2.e[5] = (Rconstraint*-p2.f[5] + int(-p2.f[5])/Cconstraint);
	p2.e[6] = (Rconstraint*-p2.f[6] + int(-p2.f[6])/Cconstraint);

	p1.f = p2.f[3];*/
	state = int(p2.f);
	for i = 1 to 6 do		
		if i == joint then
			p1.f = p2.f[i];	
			p2.e[i] = p1.e;
		else
			p2.e[i] = (Rconstraint*-p2.f[i] + -state[i]/Cconstraint);
		end;
	end;
implementation_end;
        end;
        connections
         Integrate\output -> output;
         OneJunction2\flow -> Integrate\input;
         OneJunction2\p2 => uTbai\p1;
         p1 => OneJunction2\p1;
         uTbai\p2 => p2;
        end;
       implementation_end;
      MatrixMul 312 480
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>
 <TimeStamp>2007-9-26 12:15:12</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type Gain
        ports
         signal in input1 [4,4];
         signal out output [4,4];
         signal in input2 [4,4];
       end;
       icon bg bottom
        figures
         rectangle 296.1 464 327.9 496 color 0 fill 15132390;
         text 'X' 312 480 color 16711680 16 bold;
       end;
       implementation eq
variables
	real temp[4,4];
equations
	output = input2*input1;
	temp = input2*input1;   implementation_end;
      plug p 104 328;
      plug p1 232 88;
      plug p2 488 328;
      plug Hin 104 480;
      plug Hout 496 480;
      Splitter2 312 216
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [4,4];
         signal knot in input [4,4];
       end;
       icon bg ellipse
        figures
         ellipse 308.8 212.8 315.2 219.2 color -1 fill 0;
         ellipse 307.7 211.7 316.3 220.3 color -1;
        terminals
         input 312 216 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Wbai 232 328
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:43</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       knot ZeroJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out effort [6,1];
        restrictions
         causality constraint one_in p;
       end;
       icon bg bottom
        figures
         text '0' 232 328 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
     end;
     connections
      Hin -> MatrixMul\input2;
      JointType\output -> Splitter2\input;
      JointType\p2 => Wbai\p;
      MatrixMul\output -> Hout;
      p <= Wbai\p;
      p1 => JointType\p1;
      p2 => AdHji\p2;
      Splitter2\output -> AdHji\H 416 216;
      Splitter2\output -> MatrixMul\input1;
      Wbai\p <= AdHji\p1;
     end;
     parameterrelations
EndstopMin\Rendstop = Rendstop;
EndstopMin\Cendstop = Cendstop;
EndstopMin\InitialPos = InitialPos;
EndstopMin\EndstopPos = MinEndstopPos;
EndstopMax\Rendstop = Rendstop;
EndstopMax\Cendstop = Cendstop;
EndstopMax\InitialPos = InitialPos;
EndstopMax\EndstopPos = MaxEndstopPos;
Rjoint\Rjoint= Rjoint;
Integrate\init = InitialPos;
uTbai\Rconstraint = Rconstraint;
uTbai\Cconstraint = Cconstraint;

parameterrelations_end;
     figures
      text 'b = next link (body)
a = previous link (body)
i = Frame fixed in previous body, fixed in joint
j = Frame fixed in next body, fixed in joint
 ' 672 392 color 0;
    implementation_end;
   Joint1 728.1 502
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
  <AllowLibraryUpdate>True</AllowLibraryUpdate>
    <LibraryPath>Bond Graph\MR\joint-v2.emx</LibraryPath>
  <TimeStamp>2020-7-17 14:55:32</TimeStamp>
</Description>
</Information>';
    type 'Submodel-rotz'
     ports
      power out p [6,1];
      power in p1;
      power in p2 [6,1];
      signal in Hin [4,4];
      signal out Hout [4,4];
      signal out q;
    end;
    icon bg bottom
     figures
      rectangle 696.2 464 760 540 color 0 fill 14745599;
      text 'Joint' 728 496 color 0;
     terminals
      p 696 480 fixed;
      p1 728 464 fixed;
      p2 760 480 fixed;
      Hin 696 528 fixed;
      Hout 760 528 fixed;
    end;
    implementation bg
     submodels
      AdHji 424 424
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\MTF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:3</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type MTF
        ports
         power out p1 [6,1];
         power in p2 [6,1];
         signal in H [4,4];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg bottom
        figures
         text 'MTF' 424 424 color 0 18 bold;
       end;
       implementation eq
equations					
	p2.e = transpose(Adjoint(H)) * p1.e;
	p1.f = Adjoint(H) * p2.f;implementation_end;
      JointType 240 312
       description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><AllowLibraryUpdate>True</AllowLibraryUpdate></Description><Attributes><GlobalRelations>parameters
	real joint = 3;</GlobalRelations></Attributes></Information>';
       type Submodel
        ports
         mechanical in p1;
         signal out output [4,4];
         power out p2 [6,1];
         signal out q;
       end;
       implementation bg
        submodels
         Integrate 320 272
          description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>
 <TimeStamp>2007-9-26 12:3:23</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
          type Integrate
           ports
            signal in input;
            signal out output [4,4];
            signal out q;
           parameters
            real init = -2.9496;
          end;
          icon bg
           figures
            rectangle 304 256 336 288 color 0 fill 15132390;
            text 'ò' 320 269.3 color 16711680 'SymbolProp BT' 21 symbol;
          end;
          implementation eq
parameters
	real global joint;
variables
	real R[3,3];
	real p[3];
	real qa[6];
	real temp [4,4];
initialequations
	qa = 0;
equations
q = -int(input,init);
qa[joint] = q;
R =  dll('EulerAngles.dll','RotationMatrixFromEulXYZs',qa);
output = homogeneous(R,qa[4:6]);implementation_end;
         plug p1 240 188;
         plug output 320 416;
         plug p2 240 412;
         plug q 320 184;
         OneJunction2 240 271.9
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:50:53</TimeStamp>
</Description>
</Information>';
          knot FlowSensor
           ports
            mechanical knot in p1 [1];
            power knot out p2 [1];
            signal knot out flow [1];
           restrictions
            causality constraint not_equal p1 p2;
          end;
          icon bg ellipse
           figures
            ellipse 233.1 264.8 246.9 279.1 color 0 fill 16777215;
            text 'f' 240 271.2 color 0;
          end;
          implementation eq
equations
	p2.f = p1.f;
	p1.e = p2.e;
	flow = p1.f;
implementation_end;
         uTbai 240 328
          description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\TF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:4:2</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
          type TF
           ports
            power in p1;
            power out p2 [6,1];
           restrictions
            causality constraint not_equal p1 p2;
            causality fixed in p1;
            causality fixed out p2;
           parameters
            real Cconstraint = 1.0e-4;
            real Rconstraint = 1000.0;
          end;
          icon bg left
           figures
            text 'TF' 240 328 color 0 18 bold;
          end;
          implementation eq
parameters
	real global joint;
variables
	real i;
	real state[6];
equations
	/*p2.e[1] = (Rconstraint*-p2.f[1] + int(-p2.f[1])/Cconstraint);
	p2.e[2] = (Rconstraint*-p2.f[2] + int(-p2.f[2])/Cconstraint);
	p2.e[3] = p1.e;
	p2.e[4] = (Rconstraint*-p2.f[4] + int(-p2.f[4])/Cconstraint);
	p2.e[5] = (Rconstraint*-p2.f[5] + int(-p2.f[5])/Cconstraint);
	p2.e[6] = (Rconstraint*-p2.f[6] + int(-p2.f[6])/Cconstraint);

	p1.f = p2.f[3];*/
	state = int(p2.f);
	for i = 1 to 6 do		
		if i == joint then
			p1.f = p2.f[i];	
			p2.e[i] = p1.e;
		else
			p2.e[i] = (Rconstraint*-p2.f[i] + -state[i]/Cconstraint);
		end;
	end;
implementation_end;
        end;
        connections
         Integrate\output -> output;
         Integrate\q -> q;
         OneJunction2\flow -> Integrate\input;
         OneJunction2\p2 => uTbai\p1;
         p1 => OneJunction2\p1;
         uTbai\p2 => p2;
        end;
       implementation_end;
      MatrixMul 320 576
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>
 <TimeStamp>2007-9-26 12:15:12</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type Gain
        ports
         signal in input1 [4,4];
         signal out output [4,4];
         signal in input2 [4,4];
       end;
       icon bg bottom
        figures
         rectangle 304.1 560 335.9 592 color 0 fill 15132390;
         text 'X' 320 576 color 16711680 16 bold;
       end;
       implementation eq
equations
	output = input2*input1;    implementation_end;
      plug p 112 424;
      plug p1 240 40;
      plug p2 496 424;
      plug Hin 112 576;
      plug Hout 504 576;
      plug q 112 312;
      Splitter2 320 312
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [4,4];
         signal knot in input [4,4];
       end;
       icon bg ellipse
        figures
         ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;
         ellipse 315.7 307.7 324.3 316.3 color -1;
        terminals
         input 320 312 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Wbai 240 424
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:43</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       knot ZeroJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out effort [6,1];
        restrictions
         causality constraint one_in p;
       end;
       icon bg bottom
        figures
         text '0' 240 424 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
     end;
     connections
      Hin -> MatrixMul\input2;
      JointType\output -> Splitter2\input;
      JointType\p1 <= p1;
      JointType\p2 => Wbai\p;
      JointType\q -> q;
      MatrixMul\output -> Hout;
      p <= Wbai\p;
      p2 => AdHji\p2;
      Splitter2\output -> AdHji\H 424 312;
      Splitter2\output -> MatrixMul\input1;
      Wbai\p <= AdHji\p1;
     end;
     parameterrelations
EndstopMin\Rendstop = Rendstop;
EndstopMin\Cendstop = Cendstop;
EndstopMin\InitialPos = InitialPos;
EndstopMin\EndstopPos = MinEndstopPos;
EndstopMax\Rendstop = Rendstop;
EndstopMax\Cendstop = Cendstop;
EndstopMax\InitialPos = InitialPos;
EndstopMax\EndstopPos = MaxEndstopPos;
Rjoint\Rjoint= Rjoint;
Integrate\init = InitialPos;
uTbai\Rconstraint = Rconstraint;
uTbai\Cconstraint = Cconstraint;

parameterrelations_end;
     figures
      text 'b = next link (body)
a = previous link (body)
i = Frame fixed in previous body, fixed in joint
j = Frame fixed in next body, fixed in joint
 ' 680 488 color 0;
    implementation_end;
   Joint2 896.1 686
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
  <AllowLibraryUpdate>True</AllowLibraryUpdate>
    <LibraryPath>Bond Graph\MR\joint-v2.emx</LibraryPath>
  <TimeStamp>2020-7-17 14:55:32</TimeStamp>
</Description>
</Information>';
    type 'Submodel-rotz'
     ports
      power out p [6,1];
      power in p1;
      power in p2 [6,1];
      signal in Hin [4,4];
      signal out Hout [4,4];
      signal out q;
    end;
    icon bg bottom
     figures
      rectangle 864.2 648 928 724 color 0 fill 14745599;
      text 'Joint' 896 680 color 0;
     terminals
      p 864 664 fixed;
      p1 896 648 fixed;
      p2 928 664 fixed;
      Hin 864 712 fixed;
      Hout 928 712 fixed;
    end;
    implementation bg
     submodels
      AdHji 424 424
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\MTF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:3</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type MTF
        ports
         power out p1 [6,1];
         power in p2 [6,1];
         signal in H [4,4];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg bottom
        figures
         text 'MTF' 424 424 color 0 18 bold;
       end;
       implementation eq
equations					
	p2.e = transpose(Adjoint(H)) * p1.e;
	p1.f = Adjoint(H) * p2.f;implementation_end;
      Integrate 320 176
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>
 <TimeStamp>2007-9-26 12:3:23</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type Integrate
        ports
         signal in input;
         signal out output [4,4];
         signal out q;
        parameters
         real init = -2.9496;
       end;
       icon bg
        figures
         rectangle 304 160 336 192 color 0 fill 15132390;
         text 'ò' 320 173.3 color 16711680 'SymbolProp BT' 21 symbol;
       end;
       implementation eq
parameters
	real global joint;
variables
	real R[3,3];
	real p[3];
	real qa[6];
	real temp [4,4];
initialequations
	qa = 0;
equations
q = -int(input,init);
qa[joint] = q;
R =  dll('EulerAngles.dll','RotationMatrixFromEulXYZs',qa);
output = homogeneous(R,qa[4:6]);implementation_end;
      MatrixMul 320 576
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>
 <TimeStamp>2007-9-26 12:15:12</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type Gain
        ports
         signal in input1 [4,4];
         signal out output [4,4];
         signal in input2 [4,4];
       end;
       icon bg bottom
        figures
         rectangle 304.1 560 335.9 592 color 0 fill 15132390;
         text 'X' 320 576 color 16711680 16 bold;
       end;
       implementation eq
equations
	output = input2*input1;    implementation_end;
      plug p1 240 40;
      plug p2 496 424;
      plug Hin 112 576;
      plug Hout 504 576;
      plug q 448 176;
      plug p 112 424;
      OneJunction2 240 176
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:50:53</TimeStamp>
</Description>
</Information>';
       knot FlowSensor
        ports
         mechanical knot in p1 [1];
         power knot out p2 [1];
         signal knot out flow [1];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg ellipse
        figures
         ellipse 233.1 168.8 246.9 183.1 color 0 fill 16777215;
         text 'f' 240 175.2 color 0;
       end;
       implementation eq
equations
	p2.f = p1.f;
	p1.e = p2.e;
	flow = p1.f;
implementation_end;
      Splitter2 320 312
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [4,4];
         signal knot in input [4,4];
       end;
       icon bg ellipse
        figures
         ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;
         ellipse 315.7 307.7 324.3 316.3 color -1;
        terminals
         input 320 312 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Submodel1 240 312
       description '<Description><Version>4.0</Version>
   <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <TimeStamp>2007-11-1 22:32:1</TimeStamp>
   <AllowLibraryUpdate>False</AllowLibraryUpdate>
</Description>';
       type 'Submodel-Equation'
        ports
         power in p1 [6,1];
         signal out H [4,4];
         power out p2 [6,1];
       end;
       implementation eq
variables
	real q[4];		//quaternions
	real W[3,4];	//Quaternion Rates Matrix
	real R[3,3];	//Rotation Matrix
equations
	q = int(transpose(W) * p1.f[1:3] ./ 2);
	W = [-q[2],	q[1],	-q[4],	q[3];
		 -q[3],	q[4],	q[1],	-q[2];
		 -q[4],	-q[3],	q[2],	q[1]];
 	R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]);
		  2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]);
		  2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2];implementation_end;
      uTbai 240 248
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\TF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:4:2</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type TF
        ports
         power in p1;
         power out p2 [6,1];
        restrictions
         causality constraint not_equal p1 p2;
         causality fixed in p1;
         causality fixed out p2;
        parameters
         real Cconstraint = 1.0e-4;
         real Rconstraint = 1000.0;
       end;
       icon bg left
        figures
         text 'TF' 240 248 color 0 18 bold;
       end;
       implementation eq
parameters
	real global joint;
variables
	real i;
	real state[6];
equations
	/*p2.e[1] = (Rconstraint*-p2.f[1] + int(-p2.f[1])/Cconstraint);
	p2.e[2] = (Rconstraint*-p2.f[2] + int(-p2.f[2])/Cconstraint);
	p2.e[3] = p1.e;
	p2.e[4] = (Rconstraint*-p2.f[4] + int(-p2.f[4])/Cconstraint);
	p2.e[5] = (Rconstraint*-p2.f[5] + int(-p2.f[5])/Cconstraint);
	p2.e[6] = (Rconstraint*-p2.f[6] + int(-p2.f[6])/Cconstraint);

	p1.f = p2.f[3];*/
	state = int(p2.f);
	for i = 1 to 6 do		
		if i == joint then
			p1.f = p2.f[i];	
			p2.e[i] = p1.e;
		else
			p2.e[i] = (Rconstraint*-p2.f[i] + -state[i]/Cconstraint);
		end;
	end;
implementation_end;
      Wbai 240 424
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:43</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       knot ZeroJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out effort [6,1];
        restrictions
         causality constraint one_in p;
       end;
       icon bg bottom
        figures
         text '0' 240 424 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
     end;
     connections
      Hin -> MatrixMul\input2;
      Integrate\output -> Splitter2\input;
      Integrate\q -> q;
      MatrixMul\output -> Hout;
      OneJunction2\flow -> Integrate\input;
      OneJunction2\p1 <= p1;
      OneJunction2\p2 => uTbai\p1;
      p <= Wbai\p;
      p2 => AdHji\p2;
      Splitter2\output -> AdHji\H 424 312;
      Splitter2\output -> MatrixMul\input1;
      Submodel1\p2 => Wbai\p;
      uTbai\p2 => Submodel1\p1;
      Wbai\p <= AdHji\p1;
     end;
     parameterrelations
EndstopMin\Rendstop = Rendstop;
EndstopMin\Cendstop = Cendstop;
EndstopMin\InitialPos = InitialPos;
EndstopMin\EndstopPos = MinEndstopPos;
EndstopMax\Rendstop = Rendstop;
EndstopMax\Cendstop = Cendstop;
EndstopMax\InitialPos = InitialPos;
EndstopMax\EndstopPos = MaxEndstopPos;
Rjoint\Rjoint= Rjoint;
Integrate\init = InitialPos;
uTbai\Rconstraint = Rconstraint;
uTbai\Cconstraint = Cconstraint;

parameterrelations_end;
     figures
      text 'b = next link (body)
a = previous link (body)
i = Frame fixed in previous body, fixed in joint
j = Frame fixed in next body, fixed in joint
 ' 680 488 color 0;
    implementation_end;
   JointBase1 488.2 296
    description '<Description>
   <Version>4.1</Version>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
   <LibraryPath>Joint-roty.emx</LibraryPath>
  <TimeStamp>2011-1-18 17:30:05</TimeStamp>
</Description>';
    type 'Submodel-roty'
     ports
      power out p [6,1];
      power in p1;
      power in p2 [6,1];
      signal in Hin [4,4];
      signal out Hout [4,4];
     parameters
      real Rconstraint = 1000.0;
      real Cconstraint = 1.0e-4;
      real Rendstop = 1000.0;
      real Cendstop = 1.0e-4;
      real InitialPos = -1.13;
      real MaxEndstopPos = 1.57;
      real MinEndstopPos = -1.131;
      real Rjoint = 0.1;
    end;
    icon bg bottom
     figures
      rectangle 456.5 224 520 368 color 0 fill 14745599;
      text 'Joint-roty' 488.5 299 color 0;
     terminals
      p 456 256 fixed;
      p1 487.5 224 fixed;
      p2 520 256 fixed;
      Hin 456 336 fixed;
      Hout 520 336 fixed;
    end;
    implementation bg
     submodels
      AdHji 424 424
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\MTF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:3</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type MTF
        ports
         power out p1 [6,1];
         power in p2 [6,1];
         signal in H [4,4];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg bottom
        figures
         text 'MTF' 424 424 color 0 18 bold;
       end;
       implementation eq
equations					
	p2.e = transpose(Adjoint(H)) * p1.e;
	p1.f = Adjoint(H) * p2.f;implementation_end;
      Integrate 320 336
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>
 <TimeStamp>2007-9-26 12:3:23</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type Integrate
        ports
         signal in input;
         signal out output [4,4];
        parameters
         real init = -2.9496;
       end;
       icon bg
        figures
         rectangle 304 320 336 352 color 0 fill 15132390;
         text 'ò' 320 333.3 color 16711680 'SymbolProp BT' 21 symbol;
       end;
       implementation eq
variables
	real R[3,3];
	real p[3];
	real q;
equations
q = -int(input,init);
R = [	cos(q),	-sin(q),	0;
			sin(q),	cos(q),	0;
			0,				0,				1];
p = [0;0;0];
output = homogeneous(R,p);
	
     implementation_end;
      MatrixMul 320 496
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>
 <TimeStamp>2007-9-26 12:15:12</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type Gain
        ports
         signal in input1 [4,4];
         signal out output [4,4];
         signal in input2 [4,4];
       end;
       icon bg bottom
        figures
         rectangle 304.1 480 335.9 512 color 0 fill 15132390;
         text 'X' 320 496 color 16711680 16 bold;
       end;
       implementation eq
equations
	output = input2*input1;    implementation_end;
      plug p1 240 56;
      plug p2 496 424;
      plug Hin 112 496;
      plug Hout 504 496;
      plug p 112 424;
      OneJunction 240 272
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2007-9-27 9:51:18</TimeStamp>
</Description>';
       knot OneJunction
        ports
         power knot duplicatable none p [1];
         signal knot out flow [1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 240 272 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      Rjoint 192 272
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\R.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:18</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type R
        ports
         power in p;
        parameters
         real Rjoint = 0.1;
       end;
       icon bg bottom
        figures
         text 'R' 192 272 color 0 18 bold;
       end;
       implementation eq
equations					
	p.e = Rjoint * p.f;
implementation_end;
      Splitter2 320 368
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [4,4];
         signal knot in input [4,4];
       end;
       icon bg ellipse
        figures
         ellipse 316.8 364.8 323.2 371.2 color -1 fill 0;
         ellipse 315.7 363.7 324.3 372.3 color -1;
        terminals
         input 320 368 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Tbai 240 384
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:18</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       knot OneJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out flow [6,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg left
        figures
         text '1' 240 384 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      uTbai 240 328
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\TF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:4:2</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type TF
        ports
         power in p1;
         power out p2 [6,1];
        restrictions
         causality constraint not_equal p1 p2;
         causality fixed in p1;
         causality fixed out p2;
        parameters
         real Cconstraint = 1.0e-4;
         real Rconstraint = 1000.0;
       end;
       icon bg left
        figures
         text 'TF' 240 328 color 0 18 bold;
       end;
       implementation eq

equations
	p2.e[1] = (Rconstraint*-p2.f[1] + int(-p2.f[1])/Cconstraint);
	p2.e[2] = (Rconstraint*-p2.f[2] + int(-p2.f[2])/Cconstraint);
	p2.e[3] = p1.e;
	p2.e[4] = (Rconstraint*-p2.f[4] + int(-p2.f[4])/Cconstraint);
	p2.e[5] = (Rconstraint*-p2.f[5] + int(-p2.f[5])/Cconstraint);
	p2.e[6] = (Rconstraint*-p2.f[6] + int(-p2.f[6])/Cconstraint);

	p1.f = p2.f[3];
implementation_end;
      Wbai 240 424
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:43</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       knot ZeroJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out effort [6,1];
        restrictions
         causality constraint one_in p;
       end;
       icon bg bottom
        figures
         text '0' 240 424 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
      ZeroJunction 240 104
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
  <TimeStamp>2007-9-27 9:51:43</TimeStamp>
</Description>';
       knot ZeroJunction
        ports
         power knot duplicatable none p [1];
         signal knot out effort [1];
        restrictions
         causality constraint one_in p;
       end;
       icon bg
        figures
         text '0' 240 104 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
     end;
     connections
      Hin -> MatrixMul\input2;
      Integrate\output -> Splitter2\input;
      MatrixMul\output -> Hout;
      OneJunction\flow -> Integrate\input 320 272;
      OneJunction\p => Rjoint\p;
      OneJunction\p => uTbai\p1;
      p <= Wbai\p;
      p1 => ZeroJunction\p;
      p2 => AdHji\p2;
      Splitter2\output -> AdHji\H 424 368;
      Splitter2\output -> MatrixMul\input1;
      Tbai\p => Wbai\p;
      uTbai\p2 => Tbai\p;
      Wbai\p <= AdHji\p1;
      ZeroJunction\p => OneJunction\p;
     end;
     parameterrelations
EndstopMin\Rendstop = Rendstop;
EndstopMin\Cendstop = Cendstop;
EndstopMin\InitialPos = InitialPos;
EndstopMin\EndstopPos = MinEndstopPos;
EndstopMax\Rendstop = Rendstop;
EndstopMax\Cendstop = Cendstop;
EndstopMax\InitialPos = InitialPos;
EndstopMax\EndstopPos = MaxEndstopPos;
Rjoint\Rjoint= Rjoint;
Integrate\init = InitialPos;
uTbai\Rconstraint = Rconstraint;
uTbai\Cconstraint = Cconstraint;parameterrelations_end;
     figures
      text 'b = next link (body)
a = previous link (body)
i = Frame fixed in previous body, fixed in joint
j = Frame fixed in next body, fixed in joint
 ' 744 400 color 0;
    implementation_end;
   JointBase2 296.2 296
    description '<Description>
   <Version>4.1</Version>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
   <LibraryPath>Joint-roty.emx</LibraryPath>
  <TimeStamp>2011-1-18 17:30:05</TimeStamp>
</Description>';
    type 'Submodel-roty'
     ports
      power out p [6,1];
      power in p1;
      power in p2 [6,1];
      signal in Hin [4,4];
      signal out Hout [4,4];
     parameters
      real Rconstraint = 1000.0;
      real Cconstraint = 1.0e-4;
      real Rendstop = 1000.0;
      real Cendstop = 1.0e-4;
      real InitialPos = 0.0;
      real MaxEndstopPos = 1.57;
      real MinEndstopPos = -1.131;
      real Rjoint = 0.1;
    end;
    icon bg bottom
     figures
      rectangle 264.5 224 328 368 color 0 fill 14745599;
      text 'Joint-roty' 296.5 299 color 0;
     terminals
      p 264 256 fixed;
      p1 295.5 224 fixed;
      p2 328 256 fixed;
      Hin 264 336 fixed;
      Hout 328 336 fixed;
    end;
    implementation bg
     submodels
      AdHji 424 424
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\MTF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:3</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type MTF
        ports
         power out p1 [6,1];
         power in p2 [6,1];
         signal in H [4,4];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg bottom
        figures
         text 'MTF' 424 424 color 0 18 bold;
       end;
       implementation eq
equations					
	p2.e = transpose(Adjoint(H)) * p1.e;
	p1.f = Adjoint(H) * p2.f;implementation_end;
      Integrate 320 328
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>
 <TimeStamp>2007-9-26 12:3:23</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type Integrate
        ports
         signal in input;
         signal out output [4,4];
        parameters
         real init = -2.9496;
       end;
       icon bg
        figures
         rectangle 304 312 336 344 color 0 fill 15132390;
         text 'ò' 320 325.3 color 16711680 'SymbolProp BT' 21 symbol;
       end;
       implementation eq
variables
	real R[3,3];
	real p[3];
	real q;
equations
q = -int(input,init);
R = [	cos(q),	-sin(q),	0;
			sin(q),	cos(q),	0;
			0,				0,				1];
p = [0;0;0];
output = homogeneous(R,p);
	
     implementation_end;
      MatrixMul 320 496
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>
 <TimeStamp>2007-9-26 12:15:12</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type Gain
        ports
         signal in input1 [4,4];
         signal out output [4,4];
         signal in input2 [4,4];
       end;
       icon bg bottom
        figures
         rectangle 304.1 480 335.9 512 color 0 fill 15132390;
         text 'X' 320 496 color 16711680 16 bold;
       end;
       implementation eq
equations
	output = input2*input1;    implementation_end;
      plug p1 240 56;
      plug p2 496 424;
      plug Hin 112 496;
      plug Hout 504 496;
      plug p 112 424;
      OneJunction 240 272
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2007-9-27 9:51:18</TimeStamp>
</Description>';
       knot OneJunction
        ports
         power knot duplicatable none p [1];
         signal knot out flow [1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 240 272 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      Rjoint 192 272
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\R.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:18</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type R
        ports
         power in p;
        parameters
         real Rjoint = 0.1;
       end;
       icon bg bottom
        figures
         text 'R' 192 272 color 0 18 bold;
       end;
       implementation eq
equations					
	p.e = Rjoint * p.f;
implementation_end;
      Splitter2 320 368
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [4,4];
         signal knot in input [4,4];
       end;
       icon bg ellipse
        figures
         ellipse 316.8 364.8 323.2 371.2 color -1 fill 0;
         ellipse 315.7 363.7 324.3 372.3 color -1;
        terminals
         input 320 368 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Tbai 240 376
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:18</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       knot OneJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out flow [6,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg left
        figures
         text '1' 240 376 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      uTbai 240 328
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\TF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:4:2</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type TF
        ports
         power in p1;
         power out p2 [6,1];
        restrictions
         causality constraint not_equal p1 p2;
         causality fixed in p1;
         causality fixed out p2;
        parameters
         real Cconstraint = 1.0e-4;
         real Rconstraint = 1000.0;
       end;
       icon bg left
        figures
         text 'TF' 240 328 color 0 18 bold;
       end;
       implementation eq

equations
	p2.e[1] = (Rconstraint*-p2.f[1] + int(-p2.f[1])/Cconstraint);
	p2.e[2] = (Rconstraint*-p2.f[2] + int(-p2.f[2])/Cconstraint);
	p2.e[3] = p1.e;
	p2.e[4] = (Rconstraint*-p2.f[4] + int(-p2.f[4])/Cconstraint);
	p2.e[5] = (Rconstraint*-p2.f[5] + int(-p2.f[5])/Cconstraint);
	p2.e[6] = (Rconstraint*-p2.f[6] + int(-p2.f[6])/Cconstraint);

	p1.f = p2.f[3];
implementation_end;
      Wbai 240 424
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:43</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       knot ZeroJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out effort [6,1];
        restrictions
         causality constraint one_in p;
       end;
       icon bg bottom
        figures
         text '0' 240 424 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
      ZeroJunction 240 160
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
  <TimeStamp>2007-9-27 9:51:43</TimeStamp>
</Description>';
       knot ZeroJunction
        ports
         power knot duplicatable none p [1];
         signal knot out effort [1];
        restrictions
         causality constraint one_in p;
       end;
       icon bg
        figures
         text '0' 240 160 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
     end;
     connections
      Hin -> MatrixMul\input2;
      Integrate\output -> Splitter2\input;
      MatrixMul\output -> Hout;
      OneJunction\flow -> Integrate\input 320 272;
      OneJunction\p => Rjoint\p;
      OneJunction\p => uTbai\p1;
      p <= Wbai\p;
      p1 => ZeroJunction\p;
      p2 => AdHji\p2;
      Splitter2\output -> AdHji\H 424 368;
      Splitter2\output -> MatrixMul\input1;
      Tbai\p => Wbai\p;
      uTbai\p2 => Tbai\p;
      Wbai\p <= AdHji\p1;
      ZeroJunction\p => OneJunction\p;
     end;
     parameterrelations
EndstopMin\Rendstop = Rendstop;
EndstopMin\Cendstop = Cendstop;
EndstopMin\InitialPos = InitialPos;
EndstopMin\EndstopPos = MinEndstopPos;
EndstopMax\Rendstop = Rendstop;
EndstopMax\Cendstop = Cendstop;
EndstopMax\InitialPos = InitialPos;
EndstopMax\EndstopPos = MaxEndstopPos;
Rjoint\Rjoint= Rjoint;
Integrate\init = InitialPos;
uTbai\Rconstraint = Rconstraint;
uTbai\Cconstraint = Cconstraint;parameterrelations_end;
     figures
      text 'b = next link (body)
a = previous link (body)
i = Frame fixed in previous body, fixed in joint
j = Frame fixed in next body, fixed in joint
 ' 744 400 color 0;
    implementation_end;
   Link 464 504
    description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Z:\home\wouter\Documents\20-sim\library\Bond Graph\MR\link-v2.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-16 17:44:32</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'Submodel-Equation'
     ports
      signal in Hin [4,4];
      signal out Hout [4,4];
      power in Pin [6,1];
      power out Pout [6,1];
     restrictions
      causality constraint not_equal Pin Pout;
    end;
    icon bg bottom
     figures
      rectangle 432 464 496 544 color 0 fill 8454041;
      text 'name' 464 488 color 0 'Clear Sans' 16;
     terminals
      Hin 432 528 fixed;
      Hout 496 528 fixed;
      Pin 496 480 fixed;
      Pout 432 480 fixed;
    end;
    implementation eq
parameters
	real offset[3]= [0.0; 0.0325; 0.0]; //coordinates of joint_1 
variables
	real Hab[4,4];
	real AdHab[6,6];
equations
	Hab = homogeneous(eye(3),offset);
	AdHab = Adjoint(eye(3),offset);
	Hout = Hin * Hab;
	Pout.e = transpose(AdHab) * Pin.e;
	Pin.f = AdHab * Pout.f;

    implementation_end;
   Link1 624 504
    description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Z:\home\wouter\Documents\20-sim\library\Bond Graph\MR\link-v2.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-16 17:44:32</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'Submodel-Equation'
     ports
      signal in Hin [4,4];
      signal out Hout [4,4];
      power in Pin [6,1];
      power out Pout [6,1];
     restrictions
      causality constraint not_equal Pin Pout;
    end;
    icon bg bottom
     figures
      rectangle 592 464 656 544 color 0 fill 8454041;
      text 'name' 624 488 color 0 'Clear Sans' 16;
     terminals
      Hin 592 528 fixed;
      Hout 656 528 fixed;
      Pin 656 480 fixed;
      Pout 592 480 fixed;
    end;
    implementation eq
parameters
	real offset[3]= [0.0; 0.0325; 0.0]; //coordinates of joint_1 
variables
	real Hab[4,4];
	real AdHab[6,6];
equations
	Hab = homogeneous(eye(3),offset);
	AdHab = Adjoint(eye(3),offset);
	Hout = Hin * Hab;
	Pout.e = transpose(AdHab) * Pin.e;
	Pin.f = AdHab * Pout.f;

    implementation_end;
   Link2 808 504
    description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Z:\home\wouter\Documents\20-sim\library\Bond Graph\MR\link-v2.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-16 17:44:32</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'Submodel-Equation'
     ports
      signal in Hin [4,4];
      signal out Hout [4,4];
      power in Pin [6,1];
      power out Pout [6,1];
     restrictions
      causality constraint not_equal Pin Pout;
    end;
    icon bg bottom
     figures
      rectangle 776 464 840 544 color 0 fill 8454041;
      text 'name' 808 488 color 0 'Clear Sans' 16;
     terminals
      Hin 776 528 fixed;
      Hout 840 528 fixed;
      Pin 840 480 fixed;
      Pout 776 480 fixed;
    end;
    implementation eq
parameters
	real offset[3]= [0; 0.025; 0]; //coordinates of joint_1 
variables
	real Hab[4,4];
	real AdHab[6,6];
equations
	Hab = homogeneous(eye(3),offset);
	AdHab = Adjoint(eye(3),offset);
	Hout = Hin * Hab;
	Pout.e = transpose(AdHab) * Pin.e;
	Pin.f = AdHab * Pout.f;

    implementation_end;
   Link3 968 504
    description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Z:\home\wouter\Documents\20-sim\library\Bond Graph\MR\link-v2.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-16 17:44:32</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'Submodel-Equation'
     ports
      signal in Hin [4,4];
      signal out Hout [4,4];
      power in Pin [6,1];
      power out Pout [6,1];
     restrictions
      causality constraint not_equal Pin Pout;
    end;
    icon bg bottom
     figures
      rectangle 936 464 1000 544 color 0 fill 8454041;
      text 'name' 968 488 color 0 'Clear Sans' 16;
     terminals
      Hin 936 528 fixed;
      Hout 1000 528 fixed;
      Pin 1000 480 fixed;
      Pout 936 480 fixed;
    end;
    implementation eq
parameters
	real offset[3]= [0; 0.025; 0]; //coordinates of joint_1 
variables
	real Hab[4,4];
	real AdHab[6,6];
equations
	Hab = homogeneous(eye(3),offset);
	AdHab = Adjoint(eye(3),offset);
	Hout = Hin * Hab;
	Pout.e = transpose(AdHab) * Pin.e;
	Pin.f = AdHab * Pout.f;

    implementation_end;
   new_joint1 672 592
    description '<Description><Version>4.0</Version>
   <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <TimeStamp>2007-11-1 22:32:1</TimeStamp>
   <AllowLibraryUpdate>False</AllowLibraryUpdate>
</Description>';
    type 'Submodel-Equation'
     ports
      signal in input [4,4];
      signal out output;
    end;
    implementation eq
variables
	real position[3];
	real rotation[3];
	real R[3,3];
equations
	// start typing here
	position = input[1:3,4];
	rotation = [input[3,2];input[1,3];input[2,1]];
	R = input[1:3,1:3];implementation_end;
   new_joint2 1064 528
    description '<Description><Version>4.0</Version>
   <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <TimeStamp>2007-11-1 22:32:1</TimeStamp>
   <AllowLibraryUpdate>False</AllowLibraryUpdate>
</Description>';
    type 'Submodel-Equation'
     ports
      signal in input [4,4];
      signal out output;
    end;
    implementation eq
variables
	real position[3];
	real rotation[3];
	real R[3,3];
equations
	// start typing here
	position = input[1:3,4];
	rotation = [input[3,2];input[1,3];input[2,1]];
	R = input[1:3,1:3];implementation_end;
   OneJunction 232 256
    description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2007-9-27 9:51:18</TimeStamp>
</Description>';
    knot OneJunction
     ports
      power knot duplicatable none p [6,1];
      signal knot out flow [6,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 232 256 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction1 304 480
    description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2007-9-27 9:51:18</TimeStamp>
</Description>';
    knot OneJunction
     ports
      power knot duplicatable none p [6,1];
      signal knot out flow [6,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 304 480 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   ori_joint1 440 408
    description '<Description><Version>4.0</Version>
   <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <TimeStamp>2007-11-1 22:32:1</TimeStamp>
   <AllowLibraryUpdate>False</AllowLibraryUpdate>
</Description>';
    type 'Submodel-Equation'
     ports
      signal in input [4,4];
      signal out output;
    end;
    implementation eq
variables
	real position[3];
	real rotation[3];
	real R[3,3];
equations
	// start typing here
	position = input[1:3,4];
	rotation = [input[3,2];input[1,3];input[2,1]];
	R = input[1:3,1:3];
 implementation_end;
   ori_joint2 760 336
    description '<Description><Version>4.0</Version>
   <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <TimeStamp>2007-11-1 22:32:1</TimeStamp>
   <AllowLibraryUpdate>False</AllowLibraryUpdate>
</Description>';
    type 'Submodel-Equation'
     ports
      signal in input [4,4];
      signal out output;
    end;
    implementation eq
variables
	real position[3];
	real rotation[3];
	real R[3,3];
equations
	// start typing here
	position = input[1:3,4];
	rotation = [input[3,2];input[1,3];input[2,1]];
	R = input[1:3,1:3];implementation_end;
   Sf 160 256
    description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\3D\Sf-3.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:11:58</TimeStamp>
</Description>';
    type 'Sf-3'
     ports
      power out p [6,1];
     restrictions
      causality fixed in p;
    end;
    icon bg bottom
     figures
      text 'Sf' 160 256 color 0 18 bold;
    end;
    implementation eq
parameters
	real flow[6,1] = 0;
variables
	real effort [6];
equations
	p.f = flow;
	effort = p.e;
implementation_end;
   Sf1 256 480
    description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\3D\Sf-3.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:11:58</TimeStamp>
</Description>';
    type 'Sf-3'
     ports
      power out p [6,1];
     restrictions
      causality fixed in p;
    end;
    icon bg bottom
     figures
      text 'Sf' 256 480 color 0 18 bold;
    end;
    implementation eq
parameters
	real flow[6,1] = 0;
variables
	real effort [6];
equations
	p.f = flow;
	effort = p.e;
implementation_end;
   Splitter1 296 96
    description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
    knot Splitter
     ports
      signal knot duplicatable out output [1];
      signal knot in input [1];
    end;
    icon bg ellipse
     figures
      ellipse 292.8 92.8 299.2 99.2 color -1 fill 0;
      ellipse 291.7 91.7 300.3 100.3 color -1;
     terminals
      input 296 96 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Splitter2 232 336
    description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
    knot Splitter
     ports
      signal knot duplicatable out output [4,4];
      signal knot in input [4,4];
    end;
    icon bg ellipse
     figures
      ellipse 228.8 332.8 235.2 339.2 color -1 fill 0;
      ellipse 227.7 331.7 236.3 340.3 color -1;
     terminals
      input 232 336 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Splitter3 480 640
    description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
    knot Splitter
     ports
      signal knot duplicatable out output [1];
      signal knot in input [1];
    end;
    icon bg ellipse
     figures
      ellipse 476.8 636.8 483.2 643.2 color -1 fill 0;
      ellipse 475.7 635.7 484.3 644.3 color -1;
     terminals
      input 480 640 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Splitter4 232 528
    description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
    knot Splitter
     ports
      signal knot duplicatable out output [4,4];
      signal knot in input [4,4];
    end;
    icon bg ellipse
     figures
      ellipse 228.8 524.8 235.2 531.2 color -1 fill 0;
      ellipse 227.7 523.7 236.3 532.3 color -1;
     terminals
      input 232 528 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Splitter5 440 336
    description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
    knot Splitter
     ports
      signal knot duplicatable out output [4,4];
      signal knot in input [4,4];
    end;
    icon bg ellipse
     figures
      ellipse 436.8 332.8 443.2 339.2 color -1 fill 0;
      ellipse 435.7 331.7 444.3 340.3 color -1;
     terminals
      input 440 336 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Splitter6 672 528
    description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
    knot Splitter
     ports
      signal knot duplicatable out output [4,4];
      signal knot in input [4,4];
    end;
    icon bg ellipse
     figures
      ellipse 668.8 524.8 675.2 531.2 color -1 fill 0;
      ellipse 667.7 523.7 676.3 532.3 color -1;
     terminals
      input 672 528 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Submodel1 296 144
    description '<Description>
	<Version>4.8</Version>
	<IsMainModel>1</IsMainModel>
	</Description>';
    type Submodel
     ports
      signal in input;
      power out p2;
    end;
    implementation bg
     submodels
      Gain1 552 88
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>
  <TimeStamp>2007-9-26 12:15:12</TimeStamp>
</Description>';
       type Gain
        ports
         signal in input;
         signal out output;
       end;
       icon bg bottom
        figures
         rectangle 536.1 72 567.9 104 color 0 fill 15132390;
         text 'K' 552 88 color 16711680 16 bold;
       end;
       implementation eq
parameters
	real K = 12.0;		// gain
equations
	output = K * input;
    implementation_end;
      GY 624 184
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\GY.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:53:45</TimeStamp>
</Description>
</Information>';
       type GY
        ports
         power in p1;
         power out p2;
        restrictions
         causality constraint equal p1 p2;
       end;
       icon bg bottom
        figures
         text 'GY' 624 184 color 0 18 bold;
       end;
       implementation eq
parameters
	real r = 0.127;
equations
	p1.e = r * p2.f;
	p2.e = r * p1.f;
implementation_end;
      MSe 624 88
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\MSe.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:12:33</TimeStamp>
</Description>
</Information>';
       type MSe
        ports
         power out p;
         signal in effort;
        restrictions
         causality fixed out p;
       end;
       icon bg bottom
        figures
         text 'MSe' 624 88 color 0 18 bold;
       end;
       implementation eq
variables
	real flow;
equations
	p.e = effort;
	flow = p.f;
implementation_end;
      plug input 424 88;
      plug p2 624 220;
      OneJunction2 624 136
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         power knot duplicatable none p [1];
         signal knot out flow [1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 624 136 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      R 664 136
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\R.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
       type R
        ports
         power in p;
       end;
       icon bg bottom
        figures
         text 'R' 664 136 color 0 18 bold;
       end;
       implementation eq
parameters
	real r = 0.08;
equations
	p.e = r * p.f;
implementation_end;
      SignalLimiter2 488 88
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>
  <TimeStamp>2007-9-26 12:47:40</TimeStamp>
</Description>';
       type 'SignalLimiter-Limit'
        ports
         signal in input;
         signal out output;
       end;
       icon bg bottom
        figures
         group
          rectangle 472 72 504 104 color 0 fill 15132390;
          line 487.9 76.5 487.9 101 color 0 fill 15132390;
          line 475 88.2 500.7 88.2 color 0 fill 15132390;
          spline 481.9 95.1 493.9 81.4 color 16711680 fill 15132390 width 2;
          spline 493.3 82.2 501.9 81.8 color 16711680 fill 15132390 width 2;
          spline 475 95.6 481.9 95.1 color 16711680 fill 15132390 width 2;
         end;
       end;
       implementation eq
parameters
	real maximum = 1;
	real minimum = -1;
equations
	output = limit (input, minimum, maximum);
  implementation_end;
     end;
     connections
      Gain1\output -> MSe\effort;
      GY\p2 => p2;
      input -> SignalLimiter2\input;
      MSe\p => OneJunction2\p;
      OneJunction2\p => GY\p1;
      R\p <= OneJunction2\p;
      SignalLimiter2\output -> Gain1\input;
     end;
    implementation_end;
   Submodel2 488 96
    description '<Description>
	<Version>4.8</Version>
	<IsMainModel>1</IsMainModel>
	</Description>';
    type Submodel
     ports
      signal in input;
      power out p2;
    end;
    implementation bg
     submodels
      Gain1 552 88
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>
  <TimeStamp>2007-9-26 12:15:12</TimeStamp>
</Description>';
       type Gain
        ports
         signal in input;
         signal out output;
       end;
       icon bg bottom
        figures
         rectangle 536.1 72 567.9 104 color 0 fill 15132390;
         text 'K' 552 88 color 16711680 16 bold;
       end;
       implementation eq
parameters
	real K = 12.0;		// gain
equations
	output = K * input;
    implementation_end;
      GY 624 184
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\GY.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:53:45</TimeStamp>
</Description>
</Information>';
       type GY
        ports
         power in p1;
         power out p2;
        restrictions
         causality constraint equal p1 p2;
       end;
       icon bg bottom
        figures
         text 'GY' 624 184 color 0 18 bold;
       end;
       implementation eq
parameters
	real r = 0.127;
equations
	p1.e = r * p2.f;
	p2.e = r * p1.f;
implementation_end;
      MSe 624 88
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\MSe.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:12:33</TimeStamp>
</Description>
</Information>';
       type MSe
        ports
         power out p;
         signal in effort;
        restrictions
         causality fixed out p;
       end;
       icon bg bottom
        figures
         text 'MSe' 624 88 color 0 18 bold;
       end;
       implementation eq
variables
	real flow;
equations
	p.e = effort;
	flow = p.f;
implementation_end;
      plug input 424 88;
      plug p2 624 220;
      OneJunction2 624 136
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         power knot duplicatable none p [1];
         signal knot out flow [1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 624 136 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      R 664 136
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\R.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
       type R
        ports
         power in p;
       end;
       icon bg bottom
        figures
         text 'R' 664 136 color 0 18 bold;
       end;
       implementation eq
parameters
	real r = 0.08;
equations
	p.e = r * p.f;
implementation_end;
      SignalLimiter2 488 88
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>
  <TimeStamp>2007-9-26 12:47:40</TimeStamp>
</Description>';
       type 'SignalLimiter-Limit'
        ports
         signal in input;
         signal out output;
       end;
       icon bg bottom
        figures
         group
          rectangle 472 72 504 104 color 0 fill 15132390;
          line 487.9 76.5 487.9 101 color 0 fill 15132390;
          line 475 88.2 500.7 88.2 color 0 fill 15132390;
          spline 481.9 95.1 493.9 81.4 color 16711680 fill 15132390 width 2;
          spline 493.3 82.2 501.9 81.8 color 16711680 fill 15132390 width 2;
          spline 475 95.6 481.9 95.1 color 16711680 fill 15132390 width 2;
         end;
       end;
       implementation eq
parameters
	real maximum = 1;
	real minimum = -1;
equations
	output = limit (input, minimum, maximum);
  implementation_end;
     end;
     connections
      Gain1\output -> MSe\effort;
      GY\p2 => p2;
      input -> SignalLimiter2\input;
      MSe\p => OneJunction2\p;
      OneJunction2\p => GY\p1;
      R\p <= OneJunction2\p;
      SignalLimiter2\output -> Gain1\input;
     end;
    implementation_end;
   Submodel4 384 640
    description '<Description>
	<Version>4.8</Version>
	<IsMainModel>1</IsMainModel>
	</Description>';
    type Submodel
     ports
      signal in input;
      power out p2;
    end;
    implementation bg
     submodels
      Gain1 552 88
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>
  <TimeStamp>2007-9-26 12:15:12</TimeStamp>
</Description>';
       type Gain
        ports
         signal in input;
         signal out output;
       end;
       icon bg bottom
        figures
         rectangle 536.1 72 567.9 104 color 0 fill 15132390;
         text 'K' 552 88 color 16711680 16 bold;
       end;
       implementation eq
parameters
	real K = 12.0;		// gain
equations
	output = K * input;
    implementation_end;
      GY 624 184
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\GY.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:53:45</TimeStamp>
</Description>
</Information>';
       type GY
        ports
         power in p1;
         power out p2;
        restrictions
         causality constraint equal p1 p2;
       end;
       icon bg bottom
        figures
         text 'GY' 624 184 color 0 18 bold;
       end;
       implementation eq
parameters
	real r = 0.127;
equations
	p1.e = r * p2.f;
	p2.e = r * p1.f;
implementation_end;
      MSe 624 88
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\MSe.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:12:33</TimeStamp>
</Description>
</Information>';
       type MSe
        ports
         power out p;
         signal in effort;
        restrictions
         causality fixed out p;
       end;
       icon bg bottom
        figures
         text 'MSe' 624 88 color 0 18 bold;
       end;
       implementation eq
variables
	real flow;
equations
	p.e = effort;
	flow = p.f;
implementation_end;
      plug input 424 88;
      plug p2 624 220;
      OneJunction2 624 136
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         power knot duplicatable none p [1];
         signal knot out flow [1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 624 136 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      R 664 136
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\R.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
       type R
        ports
         power in p;
       end;
       icon bg bottom
        figures
         text 'R' 664 136 color 0 18 bold;
       end;
       implementation eq
parameters
	real r = 0.08;
equations
	p.e = r * p.f;
implementation_end;
      SignalLimiter2 488 88
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>
  <TimeStamp>2007-9-26 12:47:40</TimeStamp>
</Description>';
       type 'SignalLimiter-Limit'
        ports
         signal in input;
         signal out output;
       end;
       icon bg bottom
        figures
         group
          rectangle 472 72 504 104 color 0 fill 15132390;
          line 487.9 76.5 487.9 101 color 0 fill 15132390;
          line 475 88.2 500.7 88.2 color 0 fill 15132390;
          spline 481.9 95.1 493.9 81.4 color 16711680 fill 15132390 width 2;
          spline 493.3 82.2 501.9 81.8 color 16711680 fill 15132390 width 2;
          spline 475 95.6 481.9 95.1 color 16711680 fill 15132390 width 2;
         end;
       end;
       implementation eq
parameters
	real maximum = 1;
	real minimum = -1;
equations
	output = limit (input, minimum, maximum);
  implementation_end;
     end;
     connections
      Gain1\output -> MSe\effort;
      GY\p2 => p2;
      input -> SignalLimiter2\input;
      MSe\p => OneJunction2\p;
      OneJunction2\p => GY\p1;
      R\p <= OneJunction2\p;
      SignalLimiter2\output -> Gain1\input;
     end;
    implementation_end;
   Submodel5 728 640
    description '<Description>
	<Version>4.8</Version>
	<IsMainModel>1</IsMainModel>
	</Description>';
    type Submodel
     ports
      signal in input;
      power out p2;
    end;
    implementation bg
     submodels
      Gain1 552 88
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>
  <TimeStamp>2007-9-26 12:15:12</TimeStamp>
</Description>';
       type Gain
        ports
         signal in input;
         signal out output;
       end;
       icon bg bottom
        figures
         rectangle 536.1 72 567.9 104 color 0 fill 15132390;
         text 'K' 552 88 color 16711680 16 bold;
       end;
       implementation eq
parameters
	real K = 12.0;		// gain
equations
	output = K * input;
    implementation_end;
      GY 624 184
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\GY.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:53:45</TimeStamp>
</Description>
</Information>';
       type GY
        ports
         power in p1;
         power out p2;
        restrictions
         causality constraint equal p1 p2;
       end;
       icon bg bottom
        figures
         text 'GY' 624 184 color 0 18 bold;
       end;
       implementation eq
parameters
	real r = 0.127;
equations
	p1.e = r * p2.f;
	p2.e = r * p1.f;
implementation_end;
      MSe 624 88
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\MSe.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:12:33</TimeStamp>
</Description>
</Information>';
       type MSe
        ports
         power out p;
         signal in effort;
        restrictions
         causality fixed out p;
       end;
       icon bg bottom
        figures
         text 'MSe' 624 88 color 0 18 bold;
       end;
       implementation eq
variables
	real flow;
equations
	p.e = effort;
	flow = p.f;
implementation_end;
      plug input 424 88;
      plug p2 624 220;
      OneJunction2 624 136
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         power knot duplicatable none p [1];
         signal knot out flow [1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 624 136 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      R 664 136
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\R.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
       type R
        ports
         power in p;
       end;
       icon bg bottom
        figures
         text 'R' 664 136 color 0 18 bold;
       end;
       implementation eq
parameters
	real r = 0.08;
equations
	p.e = r * p.f;
implementation_end;
      SignalLimiter2 488 88
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>
  <TimeStamp>2007-9-26 12:47:40</TimeStamp>
</Description>';
       type 'SignalLimiter-Limit'
        ports
         signal in input;
         signal out output;
       end;
       icon bg bottom
        figures
         group
          rectangle 472 72 504 104 color 0 fill 15132390;
          line 487.9 76.5 487.9 101 color 0 fill 15132390;
          line 475 88.2 500.7 88.2 color 0 fill 15132390;
          spline 481.9 95.1 493.9 81.4 color 16711680 fill 15132390 width 2;
          spline 493.3 82.2 501.9 81.8 color 16711680 fill 15132390 width 2;
          spline 475 95.6 481.9 95.1 color 16711680 fill 15132390 width 2;
         end;
       end;
       implementation eq
parameters
	real maximum = 1;
	real minimum = -1;
equations
	output = limit (input, minimum, maximum);
  implementation_end;
     end;
     connections
      Gain1\output -> MSe\effort;
      GY\p2 => p2;
      input -> SignalLimiter2\input;
      MSe\p => OneJunction2\p;
      OneJunction2\p => GY\p1;
      R\p <= OneJunction2\p;
      SignalLimiter2\output -> Gain1\input;
     end;
    implementation_end;
   Wtip0 760 256
    description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\Se.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:26</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
    type Se
     ports
      power out p [6,1];
     restrictions
      causality fixed out p;
    end;
    icon bg bottom
     figures
      text 'Se' 760 256 color 0 18 bold;
    end;
    implementation eq
parameters
	real effort = 0.0;
variables
	real flow[6];
equations
	p.e = effort;
	flow = p.f;
implementation_end;
   Wtip1 1064 480
    description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\Se.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:26</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
    type Se
     ports
      power out p [6,1];
     restrictions
      causality fixed out p;
    end;
    icon bg bottom
     figures
      text 'Se' 1064 480 color 0 18 bold;
    end;
    implementation eq
parameters
	real effort = 0.0;
variables
	real flow[6];
equations
	p.e = effort;
	flow = p.f;
implementation_end;
  end;
  connections
   Base\Hout -> Splitter5\input;
   Base\p => JointBase2\p2;
   Base1\Hout -> ori_joint2\input;
   Base1\p => JointBase1\p2;
   Base2\Hout -> Link3\Hin;
   Base2\p1 <= Link3\Pout;
   Base3\Hout -> Link1\Hin;
   Base3\p1 <= Link1\Pout;
   Constant\output -> Splitter2\input;
   Constant1\output -> Splitter1\input;
   Constant2\output -> Splitter3\input;
   Joint\Hout -> Link\Hin;
   Joint\p2 <= Link\Pout;
   Joint1\Hout -> Link2\Hin;
   Joint1\p2 <= Link2\Pout;
   JointBase1\Hout -> Base1\Hin;
   JointBase1\p => Base\p1;
   JointBase2\Hout -> Base\Hin;
   JointBase2\p => OneJunction\p;
   Link\Hout -> Base3\Hin;
   Link\Pin <= Base3\p;
   Link1\Hout -> Splitter6\input;
   Link1\Pin <= Joint1\p;
   Link2\Hout -> Base2\Hin;
   Link2\Pin <= Base2\p;
   Link3\Hout -> new_joint2\input;
   Link3\Pin <= Wtip1\p;
   OneJunction\p <= Sf\p;
   OneJunction1\p <= Joint\p;
   OneJunction1\p <= Sf1\p;
   Splitter1\output -> Submodel1\input;
   Splitter1\output -> Submodel2\input;
   Splitter2\output -> JointBase2\Hin;
   Splitter2\output -> Splitter4\input;
   Splitter3\output -> Submodel4\input;
   Splitter3\output -> Submodel5\input;
   Splitter4\output -> Joint\Hin;
   Splitter5\output -> JointBase1\Hin;
   Splitter5\output -> ori_joint1\input;
   Splitter6\output -> Joint1\Hin;
   Splitter6\output -> new_joint1\input;
   Submodel1\p2 => JointBase2\p1;
   Submodel2\p2 => JointBase1\p1;
   Submodel4\p2 => Joint\p1;
   Submodel5\p2 => Joint1\p1;
   Wtip0\p => Base1\p1;
  end;
 implementation_end;
]]>
</Sidops>
 </Model>
 <Experiments>
     <DefaultExperiment><![CDATA[Experiment 1]]>
</DefaultExperiment>
  <Experiment>
    <Name>Experiment 1</Name>
    <CreatedBy></CreatedBy>
    <Info></Info>
<ExpData>
  <VersionNumber>4.8</VersionNumber>
  <ModelProperties>
    <ModelProperty section="tools\graph editor" entry="debugMode" value="0"/>
  </ModelProperties>
  <Variables>
   <Parameters>
    <Variable>
     <Name>I</Name>
     <Rows>3</Rows>
     <Columns>1</Columns>
     <Value>0 0 0</Value>
    </Variable>
    <Variable>
     <Name>joint</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>m</Name>
     <Value>0</Value>
    </Variable>
   </Parameters>
   <Initials>
    <Variable>
     <Name>Base1\InertialTensor\state_initial</Name>
     <Rows>6</Rows>
     <Columns>1</Columns>
     <Value>0 0 0 0 0 0</Value>
    </Variable>
    <Variable>
     <Name>Base2\InertialTensor\state_initial</Name>
     <Rows>6</Rows>
     <Columns>1</Columns>
     <Value>0 0 0 0 0 0</Value>
    </Variable>
    <Variable>
     <Name>Base3\InertialTensor\state_initial</Name>
     <Rows>6</Rows>
     <Columns>1</Columns>
     <Value>0 0 0 0 0 0</Value>
    </Variable>
    <Variable>
     <Name>Base\InertialTensor\state_initial</Name>
     <Rows>6</Rows>
     <Columns>1</Columns>
     <Value>0 0 0 0 0 0</Value>
    </Variable>
    <Variable>
     <Name>Joint1\JointType\uTbai\state_initial</Name>
     <Rows>6</Rows>
     <Columns>1</Columns>
     <Value>0 0 0 0 0 0</Value>
    </Variable>
    <Variable>
     <Name>Joint\JointType\uTbai\state_initial</Name>
     <Rows>6</Rows>
     <Columns>1</Columns>
     <Value>0 0 0 0 0 0</Value>
    </Variable>
    <Variable>
     <Name>new_state1_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>new_state10_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>new_state2_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>new_state3_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>new_state4_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>new_state5_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>new_state6_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>new_state7_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>new_state8_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>new_state9_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>Submodel4\R\p.f_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>Submodel5\R\p.f_initial</Name>
     <Value>0</Value>
    </Variable>
   </Initials>
  </Variables>
  <PlotSpecs>
   <VarNames>
    <VarName>time</VarName>
    <VarName>ori_joint1\position[1]</VarName>
    <VarName>ori_joint1\position[2]</VarName>
    <VarName>ori_joint1\position[3]</VarName>
    <VarName>new_joint1\position[1]</VarName>
    <VarName>new_joint1\position[2]</VarName>
    <VarName>new_joint1\position[3]</VarName>
    <VarName>ori_joint2\position[1]</VarName>
    <VarName>ori_joint2\position[2]</VarName>
    <VarName>ori_joint2\position[3]</VarName>
    <VarName>ori_joint1\R[1,3]</VarName>
    <VarName>ori_joint1\R[2,3]</VarName>
    <VarName>ori_joint1\R[3,3]</VarName>
    <VarName>ori_joint1\R[1,2]</VarName>
    <VarName>ori_joint1\R[2,2]</VarName>
    <VarName>ori_joint1\R[3,2]</VarName>
    <VarName>ori_joint2\R[1,3]</VarName>
    <VarName>ori_joint2\R[2,3]</VarName>
    <VarName>ori_joint2\R[3,3]</VarName>
    <VarName>ori_joint2\R[1,2]</VarName>
    <VarName>ori_joint2\R[2,2]</VarName>
    <VarName>ori_joint2\R[3,2]</VarName>
    <VarName>new_joint2\position[1]</VarName>
    <VarName>new_joint2\position[2]</VarName>
    <VarName>new_joint2\position[3]</VarName>
   </VarNames>
   <Plots>
    <Plot>
     <PlotType>GraphPlot</PlotType>
     <BasePlot>
       <PlotId>1</PlotId>
       <UseWindowsBGColor>false</UseWindowsBGColor>
       <BGColor>16777215</BGColor>
       <PlotIsVisible>true</PlotIsVisible>
     </BasePlot>
     <Grid>
      <DrawGrid>true</DrawGrid>
      <GridColor>15780518</GridColor>
      <GridBorderLineColor>12624260</GridBorderLineColor>
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</Document>