Rhama Dwiputra
Bonn-Rhein-Sieg University of Applied Sciences, Department of Computer Science, Sankt Augustin, Germany
Alexey Zakharov
Bonn-Rhein-Sieg University of Applied Sciences, Department of Computer Science, Sankt Augustin, Germany
Roustiam Chakirov
Bonn-Rhein-Sieg University of Applied Sciences, Department of Computer Science, Sankt Augustin, Germany
Erwin Praßler
Bonn-Rhein-Sieg University of Applied Sciences, Department of Computer Science, Sankt Augustin, Germany
Download article
http://dx.doi.org/10.3384/ecp140961205Published in: Proceedings of the 10th International Modelica Conference; March 10-12; 2014; Lund; Sweden
Linköping Electronic Conference Proceedings 96:127, p. 1205-1212
This paper presents the development of Modelica model for the youBot manipulator. Whereas other robotic simulations focus on the robot interaction with its environment; Modelica allows the modeling of the manipulator controllers and motors. The model was developed with a Modelica library for the manipulator’s components which provides modularity; reusability and abstraction. A comparison test with the actual system has been performed to ensure the model accuracy. The test shows promising result and provides possible future work. The Modelica model of the youBot manipulator is freely available.
[1] R. Bischoff, U. Huggenberger, and E. Prassler, “Kuka youbot - a mobile manipulator for research and education,” in IEEE Int. Conf. on Robotics and Automat. (ICRA), pp. 1 –4, May 2011.
[2] M. Freese, S. Singh, F. Ozaki, and N. Matsuhira, “Virtual robot experimentation platform v-rep: a versatile 3d robot simulator,” in Proc. of the Second Int. Conf. on Simul., Model., and Program. for Auton. Robots, SIMPAR’10, (Berlin, Heidelberg), pp. 51–62, Springer-Verlag, 2010.
[3] O. Michel, “Webots: Professional mobile robot simulation,” J. of Adv. Robotics Syst., vol. 1, no. 1, pp. 39–42, 2004.
[4] N. Koenig and A. Howard, “Design and use paradigms for gazebo, an open-source multirobot simulator,” in IEEE/RSJ Int. Conf on Intell Robots and Syst., pp. 2149–2154, 2004.
[5] H. Elmqvist, S. Mattsson, and M. Otter, “Modelica-a language for physical system modeling, visualization and interaction,” in Comput. Aided Control Syst. Des.. in Proc. of the 1999 IEEE Int. Symp. on, pp. 630–639, 1999.
[6] P. Fritzson, “Principles of object-oriented modeling and simulation with modelica 2.1,” pp. 19–67, 2004.
[7] G. Ferretti, M. Gritti, G. Magnani, and P. Rocco, “A remote user interface to modelica robot models,” in Proc. of the 3rd Int. Modelica Conf., pp. 231–240, 2003.
[8] M. Thuemmel, M. Otter, and J. Bals, “Control of robots with elastic joints based on automatic generation of inverse dynamics models,” in Proc. of 2001 IEEE/RSJ Int. Conf. on Intell. Robots and Syst, pp. 925–930, 2001.
[9] A. Kazi, Merk, M. G. Otter, and H. Fan, “Design optimisation of industrial robots using the modelica multi-physics modeling language,” in Proc. 33rd ISR Int. Symp. Robot, pp. 347 –352, 2002.
[10] M. Hast, J. Åkesson, and A. Robertsson, “Optimal robot control using modelica and optimica,” in Proc. of the 7th Int. Modelica Conf., Modelica Association, Sept. 2009.
[11] I. Dressler, J. Schiffer, and A. Robertsson, “Modeling and control of a parallel robot using modelica,” in Proc. 7th Int. Modelica Conf., (Como, Italy), Sep 2009.
[12] Y. Chen, S. Jin, X. Zou, D. Xu, and W. Cai, “Study of modeling and simulating for picking manipulator based on modelica,” in Proc. of the 2nd Int. Conf. on Intell. Robotics and Appl., (Berlin, Heidelberg), pp. 1211–1216, Springer-Verlag, 2009.
[13] J. Åkesson, U. Nordstroem, and H. Elmqvist, “Dymola and modelica_embeddedsystems in teaching - experiences from a project course,” in Proc. of the 7th Modelica Conf., 2009.
[14] U. Pohlmann, S. Dziwok, J. Suck, B. Wolf, C. Loh, and M. Tichy, “A modelica library for real-time coordination modeling,” in Proc. of the 9th Int. Modelica Conf., 2012.
