Simulation Analysis of Discrete Admittance Control of Manipulator

Du, Nannan; Yan, Liang; Gao, Xiao-Shan; Xiang, Pengjie; Bu, Suwan

doi:10.1109/iciea54703.2022.10006131

Cited by 1 publication

(1 citation statement)

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“…In fact, Simscape Multibody has already been successfully used in the field of robotics to build models of articulated [9][10][11][12][13][14][15][16][17], parallel [18,19], mobile [20,21] and legged robots [22,23]. It has also been used to test a robot dynamic parameter identification method in [24], to test robot control strategies in [25][26][27][28], to model and simulate a multi-fingered robot arm grasping [29] and to design a 5 degrees of freedom manipulator for additive manufacturing in [30]. However, previous studies using Simscape Multibody have mostly focused on the kinematic modeling of robots, neglecting its dynamic modeling and the inclusion of non-idealities, friction, reduction gears, and motor dynamics.…”

Section: Introductionmentioning

confidence: 99%

Designing Digital Twins of Robots Using Simscape Multibody

Boschetti,

Sinico

2024

Robotics

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Digital twins of industrial and collaborative robots are widely used to evaluate and predict the behavior of manipulators under different control strategies. However, these digital twins often employ simplified mathematical models that do not fully describe their dynamics. In this paper, we present the design of a high-fidelity digital twin of a six degrees-of-freedom articulated robot using Simscape Multibody, a Matlab toolbox that allows the design of robotic manipulators in a rather intuitive and user-friendly manner. This robot digital twin includes joint friction, transmission gears, and electric actuators dynamics. After assessing the dynamic accuracy of the Simscape model, we used it to test a computed torque control scheme, proving that this model can be reliably used in simulations with different aims, such as validating control schemes, evaluating collaborative functions or minimizing power consumption.

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