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List all kinematic variables assigned as outputs


outputVariables(ks) lists the kinematic variables in the KinematicsSolver object ks so far assigned as outputs. Both joint and frame variables can serve in this role. Those that do are unknowns to solve for and report on during analysis. Their solution is constrained by target variables and biased toward one of equally plausible solutions, when several exist, by guess variables.

The output is a table with the output variables in rows. Each row gives the ID of a variable, the type and block path of the joint to which it belongs if a joint variable, the base and follower frames from which it derives if a frame variable, and the unit for its numerical value. The variables rank in the order added.

The figure shows the variables of a general KinematicsSolver object. Target (T), guess (G), and output (O) variables can be joint variables (J) or frame variables (F). The same variable can serve as guess and output or as target and output but not as guess and target.

Input Arguments

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A KinematicsSolver object is the representation of a Simscape Multibody model used for kinematic analysis.

Example: ks = simscape.multibody.KinematicsSolver('sm_double_pendulum')

Data Types: KinematicsSolver object

Introduced in R2019a