Re: Re: dynamics: comment about MBdyn...
Klas Nilsson <[email protected]>
| Newsgroups | gmane.science.robotics.orocos.user |
|---|---|
| Message-ID | <[email protected]> |
Michael
> ... So to me, the open question is what would the co-simulation
> interface be? There is something called "DSBlock" that was developed at DLR
> (http://www.modelica.org/DSblock/dsblock4.0a.shtml). This is a potential
> candidate. I think this is what Dymola uses internally.
>
I think so too, but perhaps it will be considered too complex, and what
about the notion of time in distributed systems, ...
> My advice: If you want to develop a harness for co-simulation of plant
> models along with control, try as hard as you can to specify the entire
> plant as one system and don't simultaneously co-simulate several subsystems
> or components.
>
Well, I know, but robotic systems are often distributed with parts
precompiled and embedded while other parts are being composed/developed,
so there will be several (sub)systems.
For the rest I see that we understand each other quite well.
Klas
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