WOLFRAM SYSTEM MODELER
UtilitiesUtility classes for robot examples |
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Package Contents
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Data bus for one robot axis |
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Data bus for all axes of robot |
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Generate reference angles for fastest kinematic movement |
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Generate reference angles for fastest kinematic movement |
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Map path planning to one axis control bus |
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Motor inertia and gearbox model for r3 joints 1,2,3 |
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Motor inertia and gearbox model for r3 joints 4,5,6 |
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Motor model including current controller of r3 motors |
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P-PI cascade controller for one axis |
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Axis model of the r3 joints 1,2,3 |
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Axis model of the r3 joints 4,5,6 |
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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 utility 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.Utilities"]
Out[1]:=
