This package contains models of the robot r3 of the company Manutec. It is used to demonstrate in which way complex robot models should be built up by testing first the components of the model individually before composing them together. The following models are available:
axisType1 Test one axis (controller, motor, gearbox) of structure 1.
axisType2 Test one axis (controller, motor, gearbox) of structure 2.
inverseDynamics Test mechanical structure
(predefined joint angle time functions).
robot Test complete robot model.
The parameters of this robot have been determined by measurements in the laboratory of DLR. The measurement procedure is described in:
Tuerk S. (1990): Zur Modellierung der Dynamik von Robotern mit
rotatorischen Gelenken. Fortschrittberichte VDI, Reihe 8, Nr. 211,
VDI-Verlag 1990.
The robot model is described in detail in
Otter M. (1995): Objektorientierte Modellierung mechatronischer
Systeme am Beispiel geregelter Roboter. Dissertation,
Fortschrittberichte VDI, Reihe 20, Nr. 147, VDI-Verlag 1995.
This report can be downloaded as compressed postscript file
from: http://www.robotic.dlr.de/Martin.Otter/publications.html
Release Notes:
Copyright © 2000-2002, DLR.
The Modelica package is free software; it can be redistributed and/or modified under the terms of the Modelica license, see the license conditions and the accompanying disclaimer in the documentation of package Modelica in file "Modelica/package.mo".
| Name | Description |
|---|---|
| axisType1 | Test one axis of r3 robot (controller, motor, gearbox) of structure 1. |
| axisType2 | Test one axis of r3 robot (controller, motor, gearbox) of structure 2. |
| inverseDynamics | Test of the mechanical structure model using time-dependent joint motion |
| robot | Detailled model of Manutec r3 robot with reference path |
| Components | Library of components for the Manutec r3 robot |