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Modelica Model for the youBot Manipulator

  • 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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Document Type:Conference Object
Author:Rhama Dwiputra, Alexey Zakharov, Roustiam Chakirov, Erwin Prassler
Parent Title (English):Proceedings of the 10th International Modelica Conference, March 10-12, 2014, Lund, Sweden
First Page:1205
Last Page:1212
Date of first publication:2014/03/10
Tag:Control; Manipulator; Modelica; youBot
Departments, institutes and facilities:Fachbereich Informatik
Fachbereich Elektrotechnik, Maschinenbau, Technikjournalismus
Institut für Technik, Ressourcenschonung und Energieeffizienz (TREE)
Dewey Decimal Classification (DDC):0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
6 Technik, Medizin, angewandte Wissenschaften / 62 Ingenieurwissenschaften / 620 Ingenieurwissenschaften und zugeordnete Tätigkeiten
Entry in this database:2015/04/02