Design and Realisation of the Simulation Model of the Stewart Platform using the MATLAB-Simulink and the Simscape Multibody Library

Noskievič, Petr; Walica, Dominik

doi:10.1109/iccc49264.2020.9257249

Cited by 10 publications

(7 citation statements)

References 6 publications

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“…The first one is to develop multibody simulation model with Newton-Euler, Lagrange or virtual work principle approach [24][25][26]; these approaches are demanding, and it is hard to implement such models in the HiL simulation. Another approach is to develop the multibody simulation model with the use of software such as MSC Adams [27], Matlab/Simulink [28], etc.…”

Section: Model-in-the-loop (Mil) Simulation Of the Stewart Platformmentioning

confidence: 99%

“…The mentioned software allows us to build a multibody simulation model in the Simulink environment with the blocks representing reference frames, bodies, joints, etc. However, it also supports the workflow, where the multibody assembly is exported from CAD software and is imported into the Matlab/Simulink environment [28,29]. The following Stewart platform simulation model has been created with the latter mentioned approach.…”

Section: Model-in-the-loop (Mil) Simulation Of the Stewart Platformmentioning

confidence: 99%

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Application of the MiL and HiL Simulation Techniques in Stewart Platform Control Development

Walica

Noskievič

2022

Applied Sciences

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During the integration phase of a system development, we are often concerned as to whether the designed control algorithm could be performed on the selected controller in real-time. One of the tools to test and validate the control scheme is the Hardware-in-the-Loop (HiL) simulation technique, which is a part of a model-based design methodology. This approach requires a simulation model of a controlled system running in a real-time loop with an intended controller and a control algorithm, which are objects of interest in this method. To perform the test, the control algorithm must be deployed to the controller such as a PLC. This paper presents a use case of the HiL technique in the design of the Stewart platform control, where the controller is PLCnext from Phoenix Contact. The control algorithm was first verified in the Model-in-the-Loop simulation (MiL) and then generated as a code from the Matlab/Simulink environment and deployed to the PLCnext, which resulted in a smoother transition from the design to the integration and testing phase. The presented method is also applicable to other controllers that support code generation.

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Section: Model-in-the-loop (Mil) Simulation Of the Stewart Platformmentioning

confidence: 99%

Section: Model-in-the-loop (Mil) Simulation Of the Stewart Platformmentioning

confidence: 99%

Application of the MiL and HiL Simulation Techniques in Stewart Platform Control Development

Walica

Noskievič

2022

Applied Sciences

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“…For these reasons, Simscape Multibody is a perfect candidate to build high-fidelity digital twins of robots. In fact, Simscape Multibody has already been successfully used in the field of robotics to build models of articulated [9][10][11][12][13][14][15][16][17], parallel [18,19], mobile [20,21] and legged robots [22,23]. It has also been used to test a robot dynamic parameter identification method in [24], to test robot control strategies in [25][26][27][28], to model and simulate a multi-fingered robot arm grasping [29] and to design a 5 degrees of freedom manipulator for additive manufacturing in [30].…”

Section: Introductionmentioning

confidence: 99%

Designing Digital Twins of Robots Using Simscape Multibody

Boschetti,

Sinico

2024

Robotics

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Digital twins of industrial and collaborative robots are widely used to evaluate and predict the behavior of manipulators under different control strategies. However, these digital twins often employ simplified mathematical models that do not fully describe their dynamics. In this paper, we present the design of a high-fidelity digital twin of a six degrees-of-freedom articulated robot using Simscape Multibody, a Matlab toolbox that allows the design of robotic manipulators in a rather intuitive and user-friendly manner. This robot digital twin includes joint friction, transmission gears, and electric actuators dynamics. After assessing the dynamic accuracy of the Simscape model, we used it to test a computed torque control scheme, proving that this model can be reliably used in simulations with different aims, such as validating control schemes, evaluating collaborative functions or minimizing power consumption.

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“…Meanwhile, this paper's main contribution was to develop a simple Quadrotor model using SimMechanics simulation in MATLAB using a Simscape Multibody environment 30) . The CAD modelling results will provide almost accurate real-world system parameters, allowing us to continue with the control design.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking Control of Quadrotor using LQ-Servo Control with SimMechanics

Fahmizal,

Hanung Adi Nugroho,

Adha Imam Cahyadi

et al. 2023

Evergreen

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The design of a Linear Quadratic (LQ) -Servo for trajectory tracking control of a Quadrotor is presented in this work. In this study, Newton's and Euler's laws are utilized to develop a mathematical model of how the movement of a Quadrotor is simulated. We get a linearized version of the model, so we can make a linear controller called LQ-Servo. The success of LQ-Servo control was tested in two scenarios, the first trajectory tracking at a circular position and the second with the position of the trajectory number "8". The simulation results show that the proposed LQ-Servo controller successfully overcame inertial disturbances when the UAV Bicopter performs trajectory tracking. Based on the results, it is evident that the LQ-Servo control can still maintain Quadrotor trajectory tracking with only a slight increase in RMSE when subjected to inertial disturbances. Finally, the SimMechanics are used to observe the Quadrotor's behavior under the proposed control strategies in virtual reality.

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Design and Realisation of the Simulation Model of the Stewart Platform using the MATLAB-Simulink and the Simscape Multibody Library

Cited by 10 publications

References 6 publications

Application of the MiL and HiL Simulation Techniques in Stewart Platform Control Development

Application of the MiL and HiL Simulation Techniques in Stewart Platform Control Development

Designing Digital Twins of Robots Using Simscape Multibody

Trajectory Tracking Control of Quadrotor using LQ-Servo Control with SimMechanics

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