Model-Based Development and Simulation for Robotic Systems with SysML, Simulink and Simscape Profiles
نویسندگان
چکیده
In system‐level design, it is difficult to achieve a system verification which fulfils the requirements of various stakeholders using only descriptive system models. Descriptive system models using SysML alone are insufficient for system behaviour verifications and engineers always use different simulation tools (e.g., the Mathworks Simulink or Modelica Dymola) to analyze systems behaviour. It is a good idea to combine descriptive and simulation models. This paper presents the development of a collaborative design framework which brings SysML, Simulink, and Simscape profiles within the domain of robotics. A conceptual design method is proposed to support execution models for simulation. In brief, the descriptive SysML system‐level model is interpreted into the system‐level simulation models (e.g., Simulink and Simscape). We then use a plugin‐based model integration technique to keep both models in sync for automatic simulation. A simulation study is performed to evaluate the system. To illustrate the design of this system, we present a simulated closed‐ loop system.
منابع مشابه
A MATLAB / SIMULINK BASED FAULT ANALYSIS OF SMALL HYDROPOWER PLANT
ABSTRACTRenewable Energy Sources (RES) are well – defined as energy sources, that are in abundance within the natural surroundings and are much inexhaustible. In addition, hydroelectricity (HE) is a vital part of world renewable energy supply and hydropower remains a bulk source of electricity generation because of its environmental friendliness in nature. Modeling is the analysis of the ...
متن کاملModeling Physical Systems as Physical Networks with the Simscape Language
Engineers are relying more and more on simulation to accelerate development processes. Combining computer simulation with Model-Based Design techniques enables engineers to not only complete tasks in a shorter period of time, it makes it possible to find design errors before building hardware, making the errors easier and less expensive to fix.[1] As the systems they develop require integrating...
متن کاملDynamics and Motion Control of Wheeled Robotic Systems
Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...
متن کاملModeling and Control of an Acrobot Using MATLAB and Simulink
Abstract—The problem of finding control laws for underactuated systems has attracted growing attention since these systems are characterized by the fact that they have fewer actuators than the degrees of freedom to be controlled. The acrobot, which is a planar two-link robotic arm in the vertical plane with an actuator at the elbow but no actuator at the shoulder, is a representative in underac...
متن کاملDynamics and Motion Control of Wheeled Robotic Systems
Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...
متن کامل