WOLFRAM SYSTEMMODELER

oneAxis

Model of one axis of robot (controller, motor, gearbox) with simple load

Diagram

Wolfram Language

In[1]:=
Click for copyable input
SystemModel["Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.oneAxis"]
Out[1]:=

Information

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

With this model one axis of the r3 robot is checked. The mechanical structure is replaced by a simple load inertia.

Parameters (9)

mLoad

Value: 15

Type: Mass (kg)

Description: Mass of load

kp

Value: 5

Type: Real

Description: Gain of position controller of axis 2

ks

Value: 0.5

Type: Real

Description: Gain of speed controller of axis 2

Ts

Value: 0.05

Type: Time (s)

Description: Time constant of integrator of speed controller of axis 2

startAngle

Value: 0

Type: Real (°)

Description: Start angle of axis 2

endAngle

Value: 120

Type: Real (°)

Description: End angle of axis 2

swingTime

Value: 0.5

Type: Time (s)

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

refSpeedMax

Value: 3

Type: AngularVelocity (rad/s)

Description: Maximum reference speed

refAccMax

Value: 10

Type: AngularAcceleration (rad/s²)

Description: Maximum reference acceleration

Components (3)

axis

Type: AxisType1

Description:

load

Type: Inertia

Description:

pathPlanning

Type: PathPlanning1

Description: