Naslov
Bond Graph Based Modelling and Simulation of Flexible Robotic Manipulators

Autori
Damić, V ; Čohodar M.

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of 20th European Conference / - , 2006, 147-154

Skup
Proceedings of 20th European Conference on Modelling and Simulation

Mjesto i datum
Bonn, Njemačka, 28.05.2006. - 31.05.2006

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Robot; Simulation
(robot; simulation)

Sažetak
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 collection of finite element beams based on co-rotational formulation. Model of complete robotic system is developed using multi-level bond graph models. Resulting mathematical model is generated in form of a system of differential-algebraic equations (DAEs). One advantage of use of bond graphs is that model formulation is based on velocities (unlike the other that typically use position formulation) and that leads to index 2 semi-explicit DAEs, which can be readily solved with available technique. BondSim, an integrated object-oriented modelling 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.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo, Tehnologija prometa i transport

POVEZANOST RADA