Numerical Simulation and Co-Simulation in Analysis of Manipulators’ Dynamics

Abstract

Application of general purpose computing environments to analysis of manipulators' dynamics gives ability to select elastically the model structure and analysis algorithms, as well as full access to the intermediate results, however, it often requires introduction of various simplifications of the model under consideration. The alternative approach consists in application of the specialized software packages that allow the use of more sophisticated models, but at the cost of restricted access to the intermediate results as well as the limited range of possible modifications of models and solution algorithms. The authors focused on application of the co-simulation technique in analysis of manipulators' dynamics. Co-simulation consists in application of specialized software packages to formulation of the dynamic model. Next, the model is simulated with use of a general purpose computing environment and cooperating specialized software package. The authors used Matlab/Simulink computing environment and MD ADAMS software package. The paper presents comparison of results, problems of application, as well as remarks on educational applicability of manipulator dynamics analysis with use of the simulation and the co-simulation techniques. Two examples of a manipulator dynamics modelling were considered. One example with a considerably simplified mass spatial distribution, and another one with a mass distribution corresponding to a real commercial manipulator. The achieved analysis results confirmed that application of the co-simulation technique eases the use of complex models in analysis of manipulator dynamics with use of the general purpose computing environments.

Co-Simulation and Control of a Single-Wheel Pendulum Mobile Robot

“…It consists in application of specialized software packages that allow the use of more sophisticated models or virtual prototypes as mentioned in Ref. [23]. Cosimulation allows designers to examine different kinematic and dynamical aspects of a system and enables an automatic evaluation of a much larger design alternatives when compared to a manual trial-and-error approach [24].…”

“…Cosimulation has been applied in the design and analysis of robotic manipulators like in Refs. [23,[25][26][27] and mobile robots like in Refs. [24,[28][29][30], and the use of these computational tools has proved the advantages mentioned earlier as pointed out in Ref.…”

ADAMS-MATLAB co-simulation for kinematics, dynamics, and control of the Stewart–Gough platform

“…[30][31][32] Collaborative simulation or co-simulation consists in application of the specialized software packages that allow the use of more sophisticated models, but at the cost of restricted access to the intermediate results as well as the limited range of possible modifications of models and solution algorithms. 33 Co-simulations allow developers to examine different aspects of a system and they also enable the automatic evaluation of a much larger design alternatives compared to a manual trial-and-error approach. 34 Cosimulation is a prominent method to solve multi-physics problems.…”

“…Cosimulations save money, time and give ability to modify the system for the user requirements before it has been fabricated. 36 Co-simulation has been applied in the design and analysis of robotic systems, mainly in serial manipulators 30,33,36 and mobile robots. 34,37 The use of these computational tools has proved the advantages mentioned above.…”