modelRoboterScaraL

Diagram of RoboterScaraLOpen the diagram
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Parameters

TypeNameDefaultDescription
PositionL11Length of link 1
PositionL21Length of link 2
Massm11Mass of link 1
Massm21Mass of link 2
Massm31Stator mass of vertical drive motor
Anglephi10Initial angle of joint 1
Anglephi20Initial angle of joint 2

Components

TypeNameDefaultDescription
Modelica.Mechanics.MultiBody.Interfaces.Frame_bframe_b
Modelica.Mechanics.Rotational.Sensors.RelAngleSensorrelanglesensor1
Modelica.Mechanics.Rotational.Sensors.RelAngleSensorrelanglesensor2
Modelica.Mechanics.Translational.Sensors.RelPositionSensorrelpositionsensor1
Modelica.Mechanics.MultiBody.Parts.Fixedfixed1
Modelica.Mechanics.MultiBody.Joints.Revoluterevolute1
PJlib.Kap17.Linklink1
Modelica.Mechanics.MultiBody.Joints.Revoluterevolute2
PJlib.Kap17.Linklink2
Modelica.Blocks.Interfaces.RealInputu1
Modelica.Blocks.Interfaces.RealInputu2
Modelica.Blocks.Interfaces.RealInputu3
Modelica.Blocks.Interfaces.RealOutputy1
Modelica.Blocks.Interfaces.RealOutputy2
Modelica.Blocks.Interfaces.RealOutputy3
PJLoeslib.Kap17.ServomotorLservomotor1
PJLoeslib.Kap17.ServomotorLservomotor2
PJLoeslib.Kap17.ServomotorVerticalLservomotorvertical1
PJlib.Kap17.BodyBoxbodybox1
Modelica.Blocks.Math.Gaingain3
Modelica.Blocks.Math.Gaingain2
Modelica.Blocks.Math.Gaingain1
PrismaticMprismaticM