The realistic motion modelling design methods layout for the Control CAD system
I suggest to implement a basic set of simple methods implementing relative motion of objects for the Control CAD (CADACS, CAD for Control System design).
Basically, automation and robotics implements several number of simple motion types. It is possible to represent them in very realistic manner with the set of known basic relative motion methods. Even more realistic to perform a real models dependent on its physics, size parameters, volume solidity and weight. And even more automatic with the optional imitation of positioning sensors feedback to complete a realistic model describing automative objects and providing an opportunity of possible interface with the real automatics and control.
In principle, one module describes a motion of one object relatively to others. One active module controls one object motion depending on its relative functionality, for instance, for a joint of robot or a wheel of vehicle. Both types of modules use the same set of motion methods. Active modules may variate self position depending on its control. The set of active joint modules supposes a modular structure of whole mechanical construction with modules interaction depending on the method of movement. For instance, final joint is actually more active, presize and definite, on the other hand, basic joint is usually more strategical with heavy basic functionality, its activity in whole structure differs and depends on common control. Designers may have an opportunity to override those basic methods to expand and customize functionality of control modules and the motion design of whole mechanical structure of modules.
The innovative advantages of this approach is provided by the descrete modules with sequencial interaction model participating final task. It is capable to provide a highly effective and simple modular interaction and performance. It is available at my google pages within a project of mine for the Modular Counstructive Units applications.
In details, the motion and orientation of each joint in the whole automatic structure may be very simple and natural. For example, there is a method of sequencive task distribution for each joint in perspective for each step of control points, in the other words, this is each by each joint performing the best to complete the task starting from the end joint. There are also a set of possible simple basic methods for automatic joint motion dependent on its position in space and its state in the common structure of modules. For example, the parallel legs with two joints can be described as a method of sequencive orientation of leg into the chosen direction of movement with following touch the floor and return to the starting state.
The set of simple basic movement methods for complex automatics configurations suggests an opportunity for a more dependent and harmonical motions on its basis. There is also a perspective of possible interface with the real automatics and control providing realistic motion design. The LEGO constructor modules also give a tip on modelling design implementation perspectives.
The realistic motion modelling concept examples and demonstration are available at the "CAD for CS design" chapter of project page (in russian, yet, sorry)
Known issues of the realistic modeling design instruments: VRML 2.0; Google SketchUp

Рассматривается возможность производства электронных модульных конструктивных элементов (units) и описывается построение динамических структур на базе модульных приложений. Эта работа имеет значение для последовательного развития и перспективы общих, функциональных и модульных технологий на открытой платформе. Этот путь проецируется на развитие концепции программирования в Субъектах, как разработка модульных динамических структур, основа программного субъекта. Любая реальная концепция развивается на основе применения и наработок в области функциональности. Приводятся примеры мультифункциональности представлений Субъекта, инструмента, и др. направленных структурных построений.