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
Ladda ner artikel
http://dx.doi.org/10.3384/ecp140961205Ingår i: Proceedings of the 10th International Modelica Conference; March 10-12; 2014; Lund; Sweden
Linköping Electronic Conference Proceedings 96:127, s. 1205-1212
Publicerad: 2014-03-10
ISBN: 978-91-7519-380-9
ISSN: 1650-3686 (tryckt), 1650-3740 (online)
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.
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