WOLFRAM SYSTEMMODELER

Components

Library of components of the robot

Package Contents

AxisControlBus

Data bus for one robot axis

ControlBus

Data bus for all axes of robot

PathPlanning1

Generate reference angles for fastest kinematic movement

PathPlanning6

Generate reference angles for fastest kinematic movement

PathToAxisControlBus

Map path planning to one axis control bus

GearType1

Motor inertia and gearbox model for r3 joints 1,2,3

GearType2

Motor inertia and gearbox model for r3 joints 4,5,6

Motor

Motor model including current controller of r3 motors

Controller

P-PI cascade controller for one axis

AxisType1

Axis model of the r3 joints 1,2,3

AxisType2

Axis model of the r3 joints 4,5,6

MechanicalStructure

Model of the mechanical part of the r3 robot (without animation)

Information

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

This library contains the different components of the r3 robot. Usually, there is no need to use this library directly.

Wolfram Language

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