Title: Simulation of actuated and controlled robot manipulators

Authors: Eric Guiffo Kaigom; Jürgen Roßmann

Addresses: Institute for Man-Machine Interaction, RWTH-Aachen University, Ahornstrasse 55, Aachen, Germany ' Institute for Man-Machine Interaction, RWTH-Aachen University, Ahornstrasse 55, Aachen, Germany

Abstract: As an extension of the virtual testbed framework for space missions planning, design and analysis, the recently introduced concept of eRobotics supports the entire hardware-life-cycle of robotic systems and paves the way for new technologies, while drastically cutting down costs. In this work, within the context of eRobotics, we address the simulation of electrically driven robot manipulators down to actuation. We present a systematical, highly modular approach, which exploits the electromechanical analogy to capture the structure of the robot drive train system uniformly. The modified nodal analysis is used to assemble and simulate the drive train. A polymorphism-based architecture is introduced to handle both electrical and mechanical constituting components. Torques needed to enable a simulated 7-DoF light-weight-robot manipulator to track a given joint trajectory are commanded and provided in a two-stage position and torque control scheme. The motor voltage requirement is predicted. Simulation results illustrate the effectiveness and usability of the approach.

Keywords: eRobotics; virtual testbed; virtual reality; hardware lifecycle management; holistic simulation; robotics; mechatronics; automation; drive train simulation; robot actuators; robot control; robot manipulators; space missions; modular design; nodal analysis; torque control; trajectory tracking; position control; robot positioning; motor voltage.

DOI: 10.1504/IJMA.2013.055615

International Journal of Mechatronics and Automation, 2013 Vol.3 No.3, pp.191 - 202

Received: 20 Oct 2012
Accepted: 30 Jan 2013

Published online: 29 Jul 2013 *

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