Dynamic modeling and kinematic simulation of Stäubli<sup>©</sup> TX40 robot using MATLAB/ADAMS co-simulation

Cheraghpour, Farzad; Vaezi, Masoud; Jazeh, Hesam Eddin Shoori; Moosavian, S. Ali A.

doi:10.1109/icmech.2011.5971316

Cited by 30 publications

(13 citation statements)

References 11 publications

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“…The objective of co-simulation is to make a connection so that any change in one of the programs affects the other one [28]. The response speed and stabilization performance of an ISP can be influenced seriously by the mechanical system.…”

Section: Co-modeling Of the Mechatronic Systemmentioning

confidence: 99%

Control Parameters Optimization Based on Co-Simulation of a Mechatronic System for an UA-Based Two-Axis Inertially Stabilized Platform

Zhou

Zhao

Gong

2015

Sensors

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This paper presents a method based on co-simulation of a mechatronic system to optimize the control parameters of a two-axis inertially stabilized platform system (ISP) applied in an unmanned airship (UA), by which high control performance and reliability of the ISP system are achieved. First, a three-dimensional structural model of the ISP is built by using the three-dimensional parametric CAD software SOLIDWORKS®; then, to analyze the system’s kinematic and dynamic characteristics under operating conditions, dynamics modeling is conducted by using the multi-body dynamics software ADAMS™, thus the main dynamic parameters such as displacement, velocity, acceleration and reaction curve are obtained, respectively, through simulation analysis. Then, those dynamic parameters were input into the established MATLAB® SIMULINK® controller to simulate and test the performance of the control system. By these means, the ISP control parameters are optimized. To verify the methods, experiments were carried out by applying the optimized parameters to the control system of a two-axis ISP. The results show that the co-simulation by using virtual prototyping (VP) is effective to obtain optimized ISP control parameters, eventually leading to high ISP control performance.

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Section: Co-modeling Of the Mechatronic Systemmentioning

confidence: 99%

Control Parameters Optimization Based on Co-Simulation of a Mechatronic System for an UA-Based Two-Axis Inertially Stabilized Platform

Zhou

Zhao

Gong

2015

Sensors

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“…A liquid piston air compressor/expander is utilized to achieve near-isothermal compression/expansion for efficient operation. A dynamic system model as well as control laws for optimizing the turbine power, delivering required electrical power and maintaining system pressure are developed in [30,31].…”

Section: A Caes Methodsmentioning

confidence: 99%

Energy storage techniques for hydraulic wind power systems

Vaezi

Izadian

2014

2014 International Conference on Renewable Energy Research and Application (ICRERA)

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Abstract__ Hydraulic wind power transfer systems allow collecting of energy from multiple wind turbines into one generation unit. They bring the advantage of eliminating the gearbox as a heavy and costly component. The hydraulically connected wind turbines provide variety of energy storing capabilities to mitigate the intermittent nature of wind power. This paper presents an approach to make wind power become a more reliable source on both energy and capacity by using energy storage devices, and investigates methods for wind energy electrical energy storage. The survey elaborates on three different methods named "Battery-based Energy Storage", Pumped Storage Method, and "Compressed Air Energy Storage (CAES)".

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“…The co-simulation property implemented in MSC ADAMS allows the exchanging of information between the two simulators at simulation time, so the user can take advantage of the remarkable capabilities of MatLab for analysis and design of controllers in order to control the ROV/AUV system. Some works reported using MSC ADAMS and Matlab in co-simulation are [7], [8], and [9], demonstrating its potential for simulation of mechanical dynamic systems.…”

Section: Introductionmentioning

confidence: 99%

Virtual environment for the design of position trajectory tracking controllers of remotely operated vehicles

Muñoz-Aldana

Gaviria-López

2019

ITECKNE

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This article presents a virtual environment based on co-simulation between MatLab and MSC Adams, allowing simulation, analysis, development and validation of control strategies for tracking of position trajectories of a Remotely Operated Vehicle (ROV). The simulation results in the horizontal plane show that it is possible, in an uncomplicated way, to construct a virtual environment, which allows observing realistic movements when the forces exerted on an ROV are provided. Taking advantage of the properties of co-simulation, the experiences in this work show that this simulation strategy is very suitable for analysis purposes and control design, allowing researchers and professionals the wide use of control tools available in MATLAB for this end. In this work, a robust linear quadratic regulator (LQR) with integral action has been used to evaluate the performance of the proposed virtual environment for tracking of position trajectories. To validation purposes, widely used trajectories in naval study designs were employed such as the Zig -Zag shaped and the Circular shaped trajectories. Simulation results show that the integration of both, MatLab and MSC Adams, effectively addressees the problem of evaluation of performance of control strategies in the virtual environment. The presented approach allows gaining experience about the challenges of this kind of control problems, before dealing with the complex aspects of tuning in real experimental environments, avoiding losses and cost overruns for underwater robotics projects.

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Dynamic modeling and kinematic simulation of Stäubli^© TX40 robot using MATLAB/ADAMS co-simulation

Cited by 30 publications

References 11 publications

Control Parameters Optimization Based on Co-Simulation of a Mechatronic System for an UA-Based Two-Axis Inertially Stabilized Platform

Control Parameters Optimization Based on Co-Simulation of a Mechatronic System for an UA-Based Two-Axis Inertially Stabilized Platform

Energy storage techniques for hydraulic wind power systems

Virtual environment for the design of position trajectory tracking controllers of remotely operated vehicles

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Dynamic modeling and kinematic simulation of Stäubli© TX40 robot using MATLAB/ADAMS co-simulation

Cited by 30 publications

References 11 publications

Control Parameters Optimization Based on Co-Simulation of a Mechatronic System for an UA-Based Two-Axis Inertially Stabilized Platform

Control Parameters Optimization Based on Co-Simulation of a Mechatronic System for an UA-Based Two-Axis Inertially Stabilized Platform

Energy storage techniques for hydraulic wind power systems

Virtual environment for the design of position trajectory tracking controllers of remotely operated vehicles

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Dynamic modeling and kinematic simulation of Stäubli^© TX40 robot using MATLAB/ADAMS co-simulation