modelOneAxis
Model of one axis of robot (controller, motor, gearbox) with simple load
Extends from Modelica.Icons.Example (Icon for runnable examples).
Information
With this model one axis of the r3 robot is checked. The mechanical structure is replaced by a simple load inertia.
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| SI.Mass | mLoad | 15 | Mass of load |
| SI.Radius | rg | 1.14 | Radius of gyration of load |
| Real | kp | 5 | Gain of position controller of axis |
| Real | ks | 0.5 | Gain of speed controller of axis |
| SI.Time | Ts | 0.05 | Time constant of integrator of speed controller of axis |
| Modelica.Units.NonSI.Angle_deg | startAngle | 0 | Start angle of axis |
| Modelica.Units.NonSI.Angle_deg | endAngle | 120 | End angle of axis |
| SI.Time | swingTime | 0.5 | Additional time after reference motion is in rest before simulation is stopped |
| SI.AngularVelocity | refSpeedMax | 3 | Maximum reference speed |
| SI.AngularAcceleration | refAccMax | 10 | Maximum reference acceleration |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Utilities.AxisType1 | axis | ||
| Modelica.Mechanics.Rotational.Components.Inertia | load | ||
| Utilities.PathPlanning1 | pathPlanning |