WOLFRAM SYSTEMMODELER

fullRobot

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

Diagram

Wolfram Language

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

Information

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

This example animates a motion of a detailed model of the robot with predefined axes' angles over time. For animation, CAD data is used. Translate and simulate with the default settings (default simulation stop time = 2 s).

The path planning block incorporates a simulation termination condition. Thus, the simulation can be terminated before reaching the stop time. The condition depends on the start and end positions of the joints, and on their reference speeds and reference accelerations. For current settings, the termination condition should indeed be fulfilled right before the simulation stops.

model Examples.Loops.Systems.RobotR3.fullRobot

Parameters (37)

mLoad

Value: 15

Type: Mass (kg)

Description: Mass of load

rLoad

Value: {0.1, 0.25, 0.1}

Type: Position[3] (m)

Description: Distance from last flange to load mass

g

Value: 9.81

Type: Acceleration (m/s²)

Description: Gravity acceleration

refStartTime

Value: 0

Type: Time (s)

Description: Start time of reference motion

refSwingTime

Value: 0.5

Type: Time (s)

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

startAngle1

Value: -60

Type: Real (°)

Description: Start angle of axis 1

startAngle2

Value: 20

Type: Real (°)

Description: Start angle of axis 2

startAngle3

Value: 90

Type: Real (°)

Description: Start angle of axis 3

startAngle4

Value: 0

Type: Real (°)

Description: Start angle of axis 4

startAngle5

Value: -110

Type: Real (°)

Description: Start angle of axis 5

startAngle6

Value: 0

Type: Real (°)

Description: Start angle of axis 6

endAngle1

Value: 60

Type: Real (°)

Description: End angle of axis 1

endAngle2

Value: -70

Type: Real (°)

Description: End angle of axis 2

endAngle3

Value: -35

Type: Real (°)

Description: End angle of axis 3

endAngle4

Value: 45

Type: Real (°)

Description: End angle of axis 4

endAngle5

Value: 110

Type: Real (°)

Description: End angle of axis 5

endAngle6

Value: 45

Type: Real (°)

Description: End angle of axis 6

refSpeedMax

Value: {3, 1.5, 5, 3.1, 3.1, 4.1}

Type: AngularVelocity[6] (rad/s)

Description: Maximum reference speeds of all joints

refAccMax

Value: {15, 15, 15, 60, 60, 60}

Type: AngularAcceleration[6] (rad/s²)

Description: Maximum reference accelerations of all joints

kp1

Value: 5

Type: Real

Description: Gain of position controller

ks1

Value: 0.5

Type: Real

Description: Gain of speed controller

Ts1

Value: 0.05

Type: Time (s)

Description: Time constant of integrator of speed controller

kp2

Value: 5

Type: Real

Description: Gain of position controller

ks2

Value: 0.5

Type: Real

Description: Gain of speed controller

Ts2

Value: 0.05

Type: Time (s)

Description: Time constant of integrator of speed controller

kp3

Value: 5

Type: Real

Description: Gain of position controller

ks3

Value: 0.5

Type: Real

Description: Gain of speed controller

Ts3

Value: 0.05

Type: Time (s)

Description: Time constant of integrator of speed controller

kp4

Value: 5

Type: Real

Description: Gain of position controller

ks4

Value: 0.5

Type: Real

Description: Gain of speed controller

Ts4

Value: 0.05

Type: Time (s)

Description: Time constant of integrator of speed controller

kp5

Value: 5

Type: Real

Description: Gain of position controller

ks5

Value: 0.5

Type: Real

Description: Gain of speed controller

Ts5

Value: 0.05

Type: Time (s)

Description: Time constant of integrator of speed controller

kp6

Value: 5

Type: Real

Description: Gain of position controller

ks6

Value: 0.5

Type: Real

Description: Gain of speed controller

Ts6

Value: 0.05

Type: Time (s)

Description: Time constant of integrator of speed controller

Components (8)

mechanics

Type: MechanicalStructure

pathPlanning

Type: PathPlanning6

axis1

Type: AxisType1

axis2

Type: AxisType1

axis3

Type: AxisType1

axis4

Type: AxisType2

axis5

Type: AxisType2

axis6

Type: AxisType2