In this paper, a dynamic analysis for 5 degree of freedom (DOF) robotic arm with serial topology is presented. The model the robot based on importing tri-dimensional CAD into Simulink®-Simscape™-Multibody™. in Simscape necessary and important step development mechanical structure robot. correct choice electric motors made according to resistant joint torques determined by running analysis. One ...

ZUSAMMENFASSUNG Die vorliegende Veröffentlichung präsentiert eine Methodik zur automatischen Zuverlässigkeitsanalyse anhand des Fallbeispiels „multifunktionales Brennstoffzellensystem“. Im ersten Schritt der Methodik wird ein in MATLAB Simscape implementiertes Modell des Systems um fehlerhaftes Komponentenverhalten erweitert. Anschließend erfolgt durch einen am Institut für Flugzeug-Systemtechn...

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...

This technical report outlines an approach to calculate derivative functions for Simscape models and use them to solve optimal control problems. Although this approach is less efficient than analytic expression for the derivatives, not every problem will have these directly available due to a variety of reasons, including multidomain, multibody, large-scale, automatically generated, or propriet...

Abstract The present paper contains an analysis of the operation electric motor aerospace electromechanical servomechanism on a test bench. Particularly, description focuses electromagnetic phenomena three-phase stator circuit and switching phases as function applied control logic rotor position. activity was made possible through construction validation ‘digital twin’ physical model in Simscap...

A mathematical description of the solar tracking system is given. kinematic model tracker obtained. working prototype a simulation with 3D visualization industrial object under consideration has been The mechanical characteristic rotation guidance node removed. Comparative graphs insolation generation for two types have obtained