Chrono help for example file

Comments on CHRONO example point_on_trajectory.r3d

Test 'trajectory' link

What to do: load the file, open the control panel, press the play button on the animation timeline (watch at least 5 seconds of simulation, in perspective view).
Also try to modify the shape of the spline (by moving its control points in edit mode) even while the animation is running.

This demonstrates how to use the 'trajectory' link, which constraints a point (represented by a 'marker' object inside a rigid body) to move on a trajectory.

If you open the property window of the 'trajectory' link, you can change the speed of the trajectory, as a time-dependant function for the curvilinear parameter of the trajectory.

Note that there are no 'motors' in the elbow and in the shoulder of this mechanism: its motion is driven by the 'trajectory' constraint, which pulls the end-effector of the arm along the trajctory.