Modeling and Control of a Parallel Robot Using Modelica

Abstract

A new type of high-performance robots has been developed by ABB Robotics, the Robotics Lab at Lund University and Güdel AG, Switzerland. In all parts of the project, ranging from the simulation of the kinematic configuration and reachable workspace, and kinematic and dynamic calibration/grey-box identification, and to code generation of controllers and optimal switching strategies for hybrid control, Modelica and Optimica provide very valuable functionality. We will make a short overview of the different aspects used during the development.

Modelica Model for the youBot Manipulator

“…Finally, section 6 summarizes the work and provides possible future work. Modelica has been used for modeling spider robotic arm [7], 6-axis industrial robots [8,9,10], 3 DOFs parallel Gantry-Tau robot [11], 5 DOFs manipulator [12] and mobile platforms [13,14]. In most cases, a robot model in Modelica is used for investigating the manipulator's motion control especially in the domain of optimization and system dynamics.…”

“…Dymola was also used in [12] to design a picking manipulator for agriculture purposes. [11] develops method for kinematic calibration with the Modelica model of parallel Gantry-Tau robot. Aside in the field of motion control, Modelica robot models have also been used for tele-manipulation [7], robot communication [14] and teaching tools [13].…”