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Modeling and control of an educational manipulator robot joint

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Detalhes bibliográficos
Resumo:Integrating physical robots in an educational context often entails acquiring Expensive equipment that often operates using proprietary software. Both conditions restrict the students from exploring and fully understanding the internal operation of robots. In response to these limitations, a three-degree-of-freedom robotic manipulator, based on the “EEZYbotARM MK2” open-source design by Carlo Franciscone, is being repurposed and integrated within the SimTwo simulation environment to operate within a hardware-in-the-loop architecture. To accomplish this objective, first, an open-source Arduino-based library was developed aiming at the robot’s online and offline programming akin to industrial robots. The firmware is able to communicate with the SimTwo software in which the digital twin’s robot is living. The dynamic behavior of the robot’s digital twin must be properly parametrized and aligned with the physical robot’s dynamics. This article describes the modeling of the robot joint’s actuator and its closed-loop controller formulation. The obtained results show that the dynamic behavior of the robot joint digital twin closely matches both open and closed-loop, the one of its physical counterpart.
Autores principais:Coelho, J. A. B.
Outros Autores:Brancalião, Laiany Suganuma; Alvarez, Mariano José; Costa, Paulo; Gonçalves, José
Assunto:Control Education Modeling Physics simulation Robotics SimTwo
Ano:2025
País:Portugal
Tipo de documento:comunicação em conferência
Tipo de acesso:acesso aberto
Instituição associada:Instituto Politécnico de Bragança
Idioma:português
Origem:Biblioteca Digital do IPB

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