Physics based system simulation for robot electro-mechanical control design

Abstract

The aim of our investigation is to develop complete electro-mechanical system simulation. The present developed prototype system includes pressure sensors, amplifiers, a controller, servo motors, and a robot-body. Sensor signals such as transduced voltage, servo motor actuation signals such as shaft angle, velocity, and acceleration are modeled in an analytical way. The entire system structure is formed based on the equivalent circuit concept. Mechanical dynamics of a two-leg robot-body is verified with the developed simulation system.