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The Manutec r3 benchmark models for the dynamic simulation of robots
J. Franke,M. Otter +1 more
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TLDR
A detailed dynamic model of the industrial robot Siemens manutec r3 is described and serves as a demanding benchmark problem to test the modeling and simulation capabilities of robot simulation packages.Abstract:
A detailed dynamic model of the industrial robot Siemens manutec r3 is described The parameters of the model have been acquired by measurements in our laboratory Simulation results of the model are presented as generated by the ANDECS (R) simulation environment The model serves as a demanding benchmark problem to test the modeling and simulation capabilities of robot simulation packages It is also used to investigate computer aided methods for control system design and dynamic trajectory planningread more
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Journal ArticleDOI
Modeling of Multibody Systems with the Object-Oriented Modeling Language Dymola
TL;DR: A Dymola class library for the efficient generation of the equations of motion for multibody systems is presented, based on aO(n) algorithm which is reformulated in an objectoriented way.
Direct Physical Modeling and Automatic Code Generation for Mechatronics Simulation
M. Otter,G. Gruebel +1 more
TL;DR: Computational mechatronics analysis and design necessitates a strongly interacting multidisciplinary approach to model building environment for computer-controlled physical systems, with automatic generation of efficient computer-executable model code.
Proceedings ArticleDOI
Model based control of industrial robot and implementation of its gain scheduling robust control
TL;DR: A novel gain scheduling robust control method is studied to tackle main issues regarding control of flexible robot, including flexibility compensation and handling of parametric uncertainty, unmodeled dynamics and disturbances.
References
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BookDOI
Concurrent engineering : tools and technologies for mechanical system design
TL;DR: In this article, the authors present and evaluate new design formulations for concurrent engineering of mechanical systems, including simulation-based design of automotive systems and off-road vehicles, as well as their application in the development of collision avoidance warning systems.
Journal Article
Das DFVLR Modell Nr. 1 des Industrieroboters Manutec r3.
Stefan Türk,Martin Otter +1 more
DSblock: A neutral description of dynamic systems. Version 3.1 and Version 3.2
TL;DR: The DSblock interface is designed to be able to describe models of multibody programs like SIMPACK, NEWEUL, DADS, electric circuits programs like SPICE, general purpose simulation programs like ACSL, SIMNON or DYMOLA, and block-oriented graphical environments like SYSTEM-BUILD or PROSIGN.
Computer-Integrated Control-Dynamics - Design Experimentation by ANDECS R
TL;DR: ANDECS R is a coherent computer-integrated technology which supports the iterative and interactive process of control-dynamics design, based on software-modular multiobjective optimization with multidisciplinary design criteria.