Modeling of the youBot in a serial link structure using twists and wrenches in a bond graph

摘要

Abstract. We present a walk-through tutorial on the modeling of a complex robotic system, like the newly developed desktop mobile manip-ulator youBot developed by KUKA[5, 4]. The tutorial shows the design of models for typical robotic elements, done in a reusable object-oriented style. We employ an energy-based approach for modeling and its bond-graph notation to ensure encapsulation of functionality, extendability and reusability of each element of the model. The kinematic representa-tion of mechanical elements is captured using screw theory. The modeling process is explained in two steps: first submodels of separate components are elaborated and next the model is constructed from these components. 1