Simulation of actuated and controlled robot manipulators

Abstract

As an extension of the virtual testbed framework for space missions planning, design and analysis, the recently introduced concept of eRobotics supports the entire hardware-life-cycle of robotic systems and paves the way for new technologies, while drastically cutting down costs. In this work, within the context of eRobotics, we address the simulation of electrically driven robot manipulators down to actuation. We present a systematical, highly modular approach, which exploits the electromechanical analogy to capture the structure of the robot drive train system uniformly. The modified nodal analysis is used to assemble and simulate the drive train. A polymorphism-based architecture is introduced to handle both electrical and mechanical constituting components. Torques needed to enable a simulated 7-DoF light-weight-robot manipulator to track a given joint trajectory are commanded and provided in a two-stage position and torque control scheme. The motor voltage requirement is predicted. Simulation results illustrate the effectiveness and usability of the approach.