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Digital Library of the
European Council for Modelling and Simulation |
Title: |
Bond Graph Based Modelling And
Simulation Of Flexible Robotic Manipulators |
Authors: |
Vjekoslav Damic,
Majda Cohodar |
Published in: |
(2006).ECMS
2006 Proceedings edited by: W. Borutzky, A. Orsoni, R. Zobel. European
Council for Modeling and Simulation. doi:10.7148/2006 ISBN:
0-9553018-0-7 20th
European Conference on Modelling and Simulation, Bonn,
May 28-31, 2006 |
Citation
format: |
Damic, V., & Cohodar,
M. (2006). Bond Graph Based Modelling And
Simulation Of Flexible Robotic Manipulators. ECMS 2006 Proceedings edited by:
W. Borutzky, A. Orsoni, R. Zobel (pp. 147-154). European
Council for Modeling and Simulation. doi:10.7148/2006-0147 |
DOI: |
http://dx.doi.org/10.7148/2006-0147 |
Abstract: |
Modern
lightweight robotic systems require a systematic, multidisciplinary approach
to design. Bond graphs provide a general paradigm that can be used in design of such complex systems. Modelling of slender manipulator links that typically undergo large
translational and rotational motion is not simple. There are several
approaches that are developed. In this paper slender robotic links are modelled
as a collection of finite element beams based on co-rotational formulation. The model of a
complete robotic system is developed using multi-level bond graph models. The
resulting mathematical model is generated in the form of a system of differential-algebraic equations (DAEs). One advantage of
using bond graphs is that the model formulation is based on velocities
(unlike other methods that typically use position formulation) and that leads
to index 2 semi-explicit DAEs, which can be readily solved with available
techniques. BondSim, an integrated object-oriented modeling and
simulation environment, is used. The method is applied to two flexible
multi-link problems and simulation results show that developed models provide
excellent numerical performances. The proposed method can be successfully
used for modelling other mechatronics
systems as well. |
Full
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