.Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Utilities

Information

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

Contents

Name	Description
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)