WOLFRAM SYSTEMMODELER

PathPlanning6

Generate reference angles for fastest kinematic movement

Diagram

Wolfram Language

In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components.PathPlanning6"]
Out[1]:=

Information

This information is part of the Modelica Standard Library maintained by the Modelica Association.

Given

  • start and end angles of every axis
  • maximum speed of every axis
  • maximum acceleration of every axis

this component computes the fastest movement under the given constraints. This means, that:

  1. Every axis accelerates with the maximum acceleration until the maximum speed is reached.
  2. Drives with the maximum speed as long as possible.
  3. Decelerates with the negative of the maximum acceleration until rest.

The acceleration, constant velocity and deceleration phase are determined in such a way that the movement starts form the start angles and ends at the end angles. The output of this block are the computed angles, angular velocities and angular acceleration and this information is stored as reference motion on the controlBus of the r3 robot.

Parameters (9)

naxis

Value: 6

Type: Integer

Description: Number of driven axis

angleBegDeg

Value: zeros(naxis)

Type: Real[naxis] (°)

Description: Start angles

angleEndDeg

Value: ones(naxis)

Type: Real[naxis] (°)

Description: End angles

speedMax

Value: fill(3, naxis)

Type: AngularVelocity[naxis] (rad/s)

Description: Maximum axis speed

accMax

Value: fill(2.5, naxis)

Type: AngularAcceleration[naxis] (rad/s²)

Description: Maximum axis acceleration

startTime

Value: 0

Type: Time (s)

Description: Start time of movement

swingTime

Value: 0.5

Type: Time (s)

Description: Additional time after reference motion is in rest before simulation is stopped

angleBeg

Value: Cv.from_deg(angleBegDeg)

Type: Angle[:] (rad)

Description: Start angles

angleEnd

Value: Cv.from_deg(angleEndDeg)

Type: Angle[:] (rad)

Description: End angles

Connectors (1)

controlBus

Type: ControlBus

Components (8)

path

Type: KinematicPTP2

pathToAxis1

Type: PathToAxisControlBus

pathToAxis2

Type: PathToAxisControlBus

pathToAxis3

Type: PathToAxisControlBus

pathToAxis4

Type: PathToAxisControlBus

pathToAxis5

Type: PathToAxisControlBus

pathToAxis6

Type: PathToAxisControlBus

terminateSimulation

Type: TerminateSimulation

Used in Examples (1)

fullRobot

Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3

Six degree of freedom robot with path planning, controllers, motors, brakes, gears and mechanics