DOI QR코드

DOI QR Code

Integrated SolidWorks & Simscape Platform for the Model-Based Control Algorithms of Hydraulic Manipulators

Ahn, Doo Sung;Lee, Ill Yeong;Kim, Hyun Ho

  • 투고 : 2015.10.16
  • 심사 : 2015.11.20
  • 발행 : 2015.12.01

초록

Hydraulic manipulators have been widely used in many different fields due to their high force/torque to inertia ratio. The increased speed of hydraulic manipulators requires solutions to problems ranging from mechanical design to the need to determine a robot model suitable for model-based control. As a solution, this paper presents the integration of SolidWorks with Simscape for designing and controlling hydraulic manipulators. The integration provides a platform for the rapid control prototyping of a hydraulic robot without the need to build actual prototypes. The mechanical drawings of a manipulator are first created using Solidworks and are then imported into Simscape, where the manipulator is represented by connected block diagrams based on the principle of physical modeling. Simulation examples for a 3D manipulator made by KNR SYSTEM INC are verified to show the effectiveness of the presented platform.

키워드

Hydraulic Manipulator;Model-Based Control;Physical Modeling;Simscape;SolidWorks

참고문헌

  1. I. Saha and N. Shankar, "ModelRob: A Simulink Library for Model-Based Development of Robot Manipulators", IEEE International Conference on Robotics and Automation,USA, pp. 2654-2659, 2012.
  2. G. Tong, et al. "Virtual Entity Based Rapid Prototype Developing Framework (VE-RPDF) for Intelligent Robots", IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, USA, pp.1061-1064, 2009
  3. O. W. Maaroof, et al. "General Subtask Controller for Redundant Robot Manipulators", International Conference on Control, Automation and Systems, Korea, pp.1352-1357, 2012
  4. Z. Zhu, et al. "Integrated ADAMS+MATLAB Environment for Design of an Autonomous Single Wheel Robot", IEEE, pp.2253-2258, 2009
  5. T. A. Lepikhin, et al. "Main Features and Comparison of Mathematical and Physical Modeling in MATLAB for Two-linked Robotic", ICEE, pp.1-4, 2014
  6. M. M. Mohamed and M. A. Hamdan, "Development of Control System for Two Degree of Freedom Hydraulic Motion Base", ICMEE, pp.166-170, 2010
  7. http://www.mathworks.co.kr
  8. http://www.solidworks.co.kr
  9. T.A. Lepikhin, et al. "Main Features and Comparison of Mathematical and Physical Modeling in MATLAB for Two-linked Robotic", ICEE, pp.1-4, 2014
  10. I. Saha and N. Shankar, "ModelRob: A Simulink Library for Model-Based Development of Robot Manipulators", IEEE International Conference on Robotics and Automation,USA, pp. 2654-2659, 2012.

과제정보

연구 과제 주관 기관 : Pukyong National University