Dynamik
g_vec=[0;-1;0]
stab_d=0.006
--------------------------------------------------------------------
Koerper       C.M Koordinaten
              nur fuer Dynamik
<Kn    <xyzuvw> x    >   y  >  z   > Ix   >  Iy  > Iz   > masse
--------------------------------------------------------------------
|FO |110001|0.000918|-0.000057|0.0   |0     |0     |2.194e-06|0.04325|
|EF |110001|-0.004492|0.000276|0.0   |0     |0     |4.410e-07|0.00365|
|EH |110001|-0.028543|-0.010722|0.0   |0     |0     |5.667e-07|0.00706|
|EG |110001|-0.030223|0.012071|0.0   |0     |0     |5.667e-07|0.00706|-0.010472| 0.025358|0|
|AG |110001|-0.053237|0.016632|0.0   |0     |0     |1.169e-05|0.07050|
|AH |110001|-0.059262|-0.010601|0.0   |0     |0     |1.912e-05|0.05498|
|EBD|110001|-0.018742|0.020485|0.0   |0     |0     |5.255e-06|0.02373|-0.010472| 0.025358|0| 
--------------------------------------------------------------------
Gelenke                     Gelenk Sg            Ortsverktor zum Gelenk
                            Euler  Winkel         Im Intertialsystem
>Gn >KPI   >KPJ   >GTYP  >ax    >ay    >az    > x    >    y >  z   >
--------------------------------------------------------------------
# Knoten A (Boden): AG, AH -- beide direkt an A gelagert
|A1 |AG |0  |000001|0     |0     |1     |-0.069340|-0.002270|0     |
|A2 |AH |0  |000001|0     |0     |1     |-0.069340|-0.002270|0     |
# Knoten G: AG-EG
|G  |AG |EG |000001|0     |0     |1     |-0.033997|0.016462|0     |
# Knoten H: AH-EH
|H  |AH |EH |000001|0     |0     |1     |-0.031633|-0.015619|0     |
# Knoten E (4 Koerper: EBD,EG,EH,EF -> 3 Gelenke noetig)
|E1 |EBD|EG |000001|0     |0     |1     |-0.020960|0.001295|0     |
|E2 |EBD|EH |000001|0     |0     |1     |-0.020960|0.001295|0     |
|E4 |EF |EG |000001|0     |0     |1     |-0.020960|0.001295|0     |
# Knoten B (Boden): EBD gelagert 
|Bg |EBD|0  |000001|0     |0     |1     |-0.036350|0.032730|0     |
# Knoten F: FO-EF
|F  |FO |EF |000001|0     |0     |1     |0.006987|-0.000434|0     |
# Antrieb: FO an Boden (O), Kraft (Moment), NICHT Fuehrung
|Ant|FO |0  |000001|0     |0     |1     |0.000000|0.000000|0       |
--------------------------------------------------------------------
Beobachter
<Gn<xyzuvw>
--------------------------------------------------------------------
#|EF |220000|trajek|0.006987|-0.000434|0|
#|EF |220000|0.006987|-0.000434|0|
|F  |220000|

------------------------------------------------------------
Matlab
<Gn    <xyzuvw> <Typ    <Name
-----------------------------------------------
|Ant|000002|Kraft|Mz_FO|
|EBD|220002|Kraft|Feder_CD|
------------------------------------------------
Output  
----------------------------------------------
|F|220000| 
|E|1|
|Ekin|1|       4<- kinetische Energie T
|Epot|1|       5<- potentielle Energie V
|Edrive|1|     
|dU|1|          6<- neu
|gpos|1|       7<- Verletzung Lage-Zwang  ‖g(q)‖
|gvel|1|       8 <- Verletzung Geschw.-Zwang ‖G q̇‖
|FO|000002|
----------------------------------------------

