VIRTUAL PROTOTYPING ofVIRTUAL PROTOTYPING of

ROBOTS DYNAMICSROBOTS DYNAMICS

E. TarabanovE. Tarabanov

INTRODUCTIONINTRODUCTION

Modern computer technology achievements Modern computer technology achievements allow:allow:

to simulate systems’ separate unit functioning;to simulate systems’ separate unit functioning; to present systems’ 3D shape on a monitor to present systems’ 3D shape on a monitor

screen;screen; to investigate its behavior under conditions that to investigate its behavior under conditions that

are close to real ones.are close to real ones.

With simulation, one canWith simulation, one can

gain better understanding how a system worksgain better understanding how a system works identify problems prior to their implementation identify problems prior to their implementation test potential effects of changes test potential effects of changes identify areas for resource deployment identify areas for resource deployment design efficient and cost-effective systemsdesign efficient and cost-effective systems

VIRTUAL PACKAGESVIRTUAL PACKAGES

MSC.AdamsMSC.Adams Universal Mechanism Universal Mechanism

(UM)(UM) MatLabMatLab DyMoLaDyMoLa WebotsWebots SimbadSimbad ThreeDimWorksThreeDimWorks RoboWorksRoboWorks

MATLABMATLAB

MatLab is an interactive software MatLab is an interactive software system for numerical computations and system for numerical computations and graphics.graphics.

MatLab is designed especially for MatLab is designed especially for matrix computations: solution solving of matrix computations: solution solving of linear equation systems, computing linear equation systems, computing eigenvalues, eigenvectors and matrices, eigenvalues, eigenvectors and matrices, and so on.and so on.

mathematics and calculations;mathematics and calculations; algorithm development;algorithm development; computing experiment, imitating computing experiment, imitating

modeling, prototyping;modeling, prototyping; data analysis and result researches;data analysis and result researches; scientific and engineering visualizations;scientific and engineering visualizations; application development, including the application development, including the

graphic interface of the usergraphic interface of the user

MATLAB scopes:MATLAB scopes:

MATLAB/SimulinkMATLAB/Simulink

SimulinkSimulink is an interactive tool for is an interactive tool for dynamics system modeling and analysis.dynamics system modeling and analysis.

User creates device model by means of User creates device model by means of standard blocks and carries out calculations.standard blocks and carries out calculations.

There are additional block libraries for There are additional block libraries for different scopes as SimPowerSystems – different scopes as SimPowerSystems – electrotechnical devices modeling, electrotechnical devices modeling, SimMechanics – mechanical devices SimMechanics – mechanical devices modeling, Digital Signal Processing Blockset modeling, Digital Signal Processing Blockset – a digital device development, etc.– a digital device development, etc.

MatLab: Bus MatLab: Bus suspensionsuspension

Designing an automatic suspension system for a bus

MatLab/Simulink: r3MatLab/Simulink: r3

Dynamics model structure

DyMoLaDyMoLa

DyMoLa is a complete tool for modeling DyMoLa is a complete tool for modeling and simulation of integrated and complex and simulation of integrated and complex systems for use within automotive, aerospace, systems for use within automotive, aerospace, robotics processes and other applications.robotics processes and other applications.

DyMoLa is based on Modelica, which is an DyMoLa is based on Modelica, which is an object-oriented language for physical modeling.object-oriented language for physical modeling.

DyMoLa: ExamplesDyMoLa: Examples

Robot model animation built with the MultiBody library and the Modelica Standard library

Vehicle model animation including transmission and engine

DyMoLa: Air-conditioning DyMoLa: Air-conditioning systemsystem

UNIVERSAL MECHANISMUNIVERSAL MECHANISM

UM was designed to automate the UM was designed to automate the analysis of mechanical objects connected analysis of mechanical objects connected by means of kinematical and force by means of kinematical and force elements.elements.

UM widely applies computer graphics UM widely applies computer graphics methods to display system’s 3D motion in methods to display system’s 3D motion in equation process and to analyze the equation process and to analyze the obtained results.obtained results.

Train as a subsystem set

UM: Subsystem techniqueUM: Subsystem technique

Motion animation

UM: Solving direct and inverse UM: Solving direct and inverse kinematic problemskinematic problems

Robot “Puma”

Spider robot

Bipedal walking robot

UM: ExamplesUM: Examples

MSC.ADAMMSC.ADAMSS

It allows to test virtual prototypes and It allows to test virtual prototypes and optimize designs for performance, safety and optimize designs for performance, safety and comfort, without having to build and test comfort, without having to build and test numerous physical prototypes.numerous physical prototypes.

Software package structureSoftware package structure

work in a secure virtual environment, without work in a secure virtual environment, without the fear of losing critical data;the fear of losing critical data;

reduce risk by getting better design information reduce risk by getting better design information at every stage of the development process;at every stage of the development process;

analyze design changes much faster;analyze design changes much faster; improve product quality by exploring numerous improve product quality by exploring numerous

design variations in order to optimize full-system design variations in order to optimize full-system performance;performance;

vary the kinds of analyses being performed vary the kinds of analyses being performed without having to modify physical without having to modify physical instrumentation, test fixtures, and test instrumentation, test fixtures, and test procedures.procedures.

ADAMS benefits:ADAMS benefits:

ADAMS/Control - to analyze control systems;ADAMS/Control - to analyze control systems; ADAMS/FlexADAMS/Flex - to examine the impact of - to examine the impact of

flexible parts;flexible parts; ADAMS/Linear - to calculate natural ADAMS/Linear - to calculate natural

frequencies and mode shapes of large frequencies and mode shapes of large systems.systems.

ADAMS extensions:ADAMS extensions:

Automobile engine

Chassis work

Orbit operations

Racing car movement

ADAMS: ADAMS: ExamplesExamples

ADAMS: Multilink ADAMS: Multilink robotrobot

General view of a segment

ZMEELOCZMEELOC

ZMEELOC: Virtual modelZMEELOC: Virtual model

ZMEELOC: Modeling resultsZMEELOC: Modeling results

Direct course

Lateral course

ZMEELOC: Modeling resultsZMEELOC: Modeling results

SEPTOPOD: SEPTOPOD: SolidWorks modelSolidWorks model

SEPTOPOD: ADAMS modelSEPTOPOD: ADAMS model

Rotary paw view

SEPTOPOD: Modeling resultsSEPTOPOD: Modeling results

SEPTOPOD: Modeling resultsSEPTOPOD: Modeling results

The top view

Humanoid robot: Modeling resultsHumanoid robot: Modeling results

Movement model

Humanoid robot: Modeling resultsHumanoid robot: Modeling results

Movement model

Modeling is the first step to design, identify and Modeling is the first step to design, identify and control robots and it’scontrol robots and it’s aa powerful technique to powerful technique to improve quality and productivity. Most efficient improve quality and productivity. Most efficient algorithms proposed for these applications are algorithms proposed for these applications are based on good study of robot model based on good study of robot model parameters. These operations need to be parameters. These operations need to be carefully planned.carefully planned.

Modern virtual prototyping tools have possibility Modern virtual prototyping tools have possibility to project dynamic and mechanic systems and to project dynamic and mechanic systems and allow to reach greater success in designing. allow to reach greater success in designing.

The successful coordination and interaction of The successful coordination and interaction of robots and software will require new system robots and software will require new system designs, communication protocols and designs, communication protocols and interfaces.interfaces.

CONCLUSIONCONCLUSION