Mechanical-component GIMBAL-2-BASE

• Defined in theory: Mace-domain
• Source code: mace-domain.lisp

Slots on this mechanical-component:

Instance-Of: Mechanical-component

Subcomponent-Of: Gimbal-2

Axioms:

(= (Position (Reference-Point Gimbal-2-Base)
             (Reference-Point Planar-Mace))
   (* (- (Buslength Bus-Assy))
      (Basis.Vec (Reference-Frame Planar-Mace) 1)))

(= (Orientation (Reference-Frame Gimbal-2-Base)
                (Reference-Frame Planar-Mace))
   (Simple-Rotation 3 180))

Other Related Axioms:

(<- (Gimbal-2-Torque ?X)
    (Dot (Basis.Vec (Reference-Frame Gimbal-2-Base) 1)
         (Applied-Torque Gimbal-2-Base Gimbal-2-Platform)))

(= (Reference-Point Gimbal-2-Platform)
   (Reference-Point Gimbal-2-Base))

(= (Orientation (Reference-Frame Gimbal-2-Platform)
                (Reference-Frame Gimbal-2-Base))
   (Simple-Rotation 3 Gimbal-2-Angle))