Conference article

Modelica Model for the youBot Manipulator

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 articlehttp://dx.doi.org/10.3384/ecp140961205

Published in: Proceedings of the 10th International Modelica Conference; March 10-12; 2014; Lund; Sweden

Linköping Electronic Conference Proceedings 96:127, p. 1205-1212

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Published: 2014-03-10

ISBN: 978-91-7519-380-9

ISSN: 1650-3686 (print), 1650-3740 (online)

Abstract

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.

Keywords

Control; Manipulator; Modelica; youBot

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