Modeling Single Flexible Link Using Hardware Description Language

Abstract

This paper presents a well known model of arm with flexible robotic link modeled in Hardware Description Language (HDL). The system is modeled on behavioural level described as nonlinear DAEs in a new developed hardware description language called SystemC-A. It is an extended version of the C++ based digital simulator SystemC which provides analogue, mixed-signal and mixed-domain modelling capabilities. The paper objective is of twofold, verifying the new language capabilities, and modelling a system of high complexity. The model was compared with SIMULINK/MATLAB and proved to be highly accurate.