Modeling of the youBot in a serial link structure using twists and wrenches in a bond graph


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Dresscher, Douwe and Brodskiy, Yury and Breedveld, Peter and Broenink, Jan and Stramigioli, Stefano (2010) Modeling of the youBot in a serial link structure using twists and wrenches in a bond graph. In: 2nd International Conference on Simulantion, Modeling, and Programming for Autonomous Robots, SIMPAR 2010 Workshops, 15-18 November 2010, Darmstadt, Germany (pp. pp. 385-400).

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Abstract: We present a walk-through tutorial on the modeling of a complex robotic system, like the newly developed desktop mobile manipulator youBot developed by KUKA[5, 4]. The tutorial shows the design of models for typical robotic elements, done in a reusable object-oriented style. We employ an energy-based approach for modeling and its bondgraph notation to ensure encapsulation of functionality, extendability and reusability of each element of the model. The kinematic representation of mechanical elements is captured using screw theory. The modeling process is explained in two steps: first submodels of separate components are elaborated and next the model is constructed from these components.
Item Type:Conference or Workshop Item
Faculty:
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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Link to this item:http://purl.utwente.nl/publications/76356
Official URL:http://www.sim.informatik.tu-darmstadt.de/simpar2010/ws/sites/SimTechRDP/05-SimTechRDP.pdf
Conference URL:http://www.simpar.org/index.php/program/ws.html
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