EGNiYA EMA3100A Target Motion Simulator - Path Modeler

1. EMA3100A
Target Motion Simulator
Path Modeler

2. EMA3100A Path Modeler
EMA3100A Target Motion Simulator, Path Modeler is the tool for
modeling the paths by using one of the methods for path modeling
Currently there are five methods for selection
 By Known Functions and SPToM – (KF-SPToM)
 By TOP and SPToM – (TOP-SPToM)
 By SOP and SPToM – (SOP-SPToM)
 By V Vectors and SPToM – (V-SPToM)
 By A Vectors and SPToM – (A-SPToM)
SPToM stands for Start Point plus Time of Motion
TOP and SOP stand for Third Order & Second order Polynomials
V and A Vectors stand for Velocity and Acceleration Vectors

3. EMA3100A Path Modeler
Clicking on Path Modeler menu item in Tools menu brings the
dialog for type selection, In this example we have chosen 3D
Cartesian Coordinates, when Configure button is pressed the
Motion Modeler dialog shows up

4. EMA3100A Path Modeler
The Motion Modeler dialog contains target name and sampling time
entry boxes plus method selection buttons, we go through all
methods starting with KF-SPToM meaning Path Modeling by Known
Functions and Start Point plus Time of Motion

5. EMA3100A Path Modeler
In Path Modeling by Known Functions and Start Point plus Time of
Motion,(KF-SPToM) three attributes for the path is entered which
are initial position or start point, Time of Motion and selected
known function, upon entry of those and pressing of Generate
button the path is formed and can be plotted by pressing Preview
button as seen in next two slides

6. EMA3100A Path Modeler

7. EMA3100A Path Modeler

8. EMA3100A Path Modeler
The second method is TOP-SPToM meaning Path Modeling by Third Order
Polynomials and Start Point plus Time of Motion
In Path Modeling by Third Order
Polynomials and Start Point plus Time
of Motion,(TOP-SPToM) three attributes
for the path is entered which are initial
position or start point, Time of Motion
and coefficients of the third order
polynomial for x, y and z components of
the motion, as seen in next two slides.
This method is more suitable for time
varying acceleration segments of the
trajectory.

9. EMA3100A Path Modeler

10. EMA3100A Path Modeler

11. EMA3100A Path Modeler
The third method is SOP-SPToM meaning Path Modeling by Second Order
Polynomials and Start Point plus Time of Motion
In Path Modeling by Second Order
Polynomials and Start Point plus Time
of Motion,(SOP-SPToM) three attributes
for the path is entered which are initial
position or start point, Time of Motion
and coefficients of the second order
polynomial for x, y and z components of
the motion, as seen in next two slides.
This method is more suitable for
constant acceleration segments of the
trajectory.

12. EMA3100A Path Modeler

13. EMA3100A Path Modeler

14. EMA3100A Path Modeler
The fourth method is V-SPToM meaning Path Modeling by Velocity Vector
and Start Point plus Time of Motion
In Path Modeling by Velocity Vector and
Start Point plus Time of Motion,(V-
SPToM) three attributes for the path is
entered which are initial position or
start point, Time of Motion and velocity
vectors for x, y and z components of the
motion, as seen in next two slides. This
method is more suitable for constant
velocity segments of the trajectory, for
time varying velocity second order
polynomial method is more suitable.

15. EMA3100A Path Modeler

16. EMA3100A Path Modeler

17. EMA3100A Path Modeler
The fifth method is A-SPToM meaning Path Modeling by Acceleration
Vector and Start Point plus Time of Motion
In Path Modeling by Acceeration Vector
and Start Point plus Time of Motion,(A-
SPToM) four attributes for the path is
entered which are initial position or
start point, Time of Motion and initial
velocity vectors for x, y and z
components of the motion and
acceleration vectors for x, y and z
components of the motion , as seen in
next two slides. This method is more
suitable for constant acceleration
segments of the trajectory, for time
varying acceleration third order
polynomial method is more suitable.

18. EMA3100A Path Modeler

19. EMA3100A Path Modeler

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