Simulation of actuated and controlled robot manipulators
by Eric Guiffo Kaigom; Jürgen Roßmann
International Journal of Mechatronics and Automation (IJMA), Vol. 3, No. 3, 2013

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.

Online publication date: Wed, 30-Apr-2014

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Mechatronics and Automation (IJMA):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email