Article | Proceedings of the 10<sup>th</sup> International Modelica Conference; March 10-12; 2014; Lund; Sweden | Modelica Model for the youBot Manipulator Link�ping University Electronic Press Conference Proceedings
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Title:
Modelica Model for the youBot Manipulator
Author:
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
DOI:
10.3384/ecp140961205
Download:
Full text (pdf)
Year:
2014
Conference:
Proceedings of the 10th International Modelica Conference; March 10-12; 2014; Lund; Sweden
Issue:
096
Article no.:
127
Pages:
1205-1212
No. of pages:
8
Publication type:
Abstract and Fulltext
Published:
2014-03-10
ISBN:
978-91-7519-380-9
Series:
Linköping Electronic Conference Proceedings
ISSN (print):
1650-3686
ISSN (online):
1650-3740
Publisher:
Linköping University Electronic Press; Linköpings universitet


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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

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

Author:
Rhama Dwiputra, Alexey Zakharov, Roustiam Chakirov, Erwin Praßler
Title:
Modelica Model for the youBot Manipulator
DOI:
http://dx.doi.org/10.3384/ecp140961205
References:

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

Author:
Rhama Dwiputra, Alexey Zakharov, Roustiam Chakirov, Erwin Praßler
Title:
Modelica Model for the youBot Manipulator
DOI:
http://dx.doi.org/10.3384/ecp140961205
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