Modelica Model for the youBot Manipulator

摘要

This paper presents the development of Modelica model for the youBot manipulator. Whereas other robotic simulations focus on the robot interaction with its environment, Modelica allows the modeling of the manipulator controllers and motors. The model was developed with a Modelica library for the manipulator's components which provides modularity, reusability and abstraction. A comparison test with the actual system is performed to ensure the model accuracy. The test result shows promising result and provides possible future work. The Modelica model of the youBot manipulator is freely available.