Robot model

Robot Control Software

Disclaimer: Information that is presented here, might be deprecated.

Component owner: Krisztián
Date of assessment: 2016-05-10

Current status

• There are three main parts of the model

  • Controller: determines the move sequence (a.k.a. actuator control signals)

  • Physical model: describes the physical parameters of the device

  • Motors: they transfer the effects of the control to the physical model, which is

• A site exists that can compare the results of a model-based simulation run and the measurement data obtained from a scenario on the physical device

  • Motor angle is the variable that is observed

• The model has a hierarchical structure, however, it consists of a single model file.

• Integration to other components and usage: a python MQTT publish/subscriber interfaces the CORBA API of OMC. The python code is implemented by Krisztián

Issues

• Currently model parameter values do not match the parameters of the physical robot (e.g. rotation speed differs)

  • There are approximately 14 parameters that need to be synchronized

• OpenModelica is sometimes cumbersome to use

Development directions:

• We don’t know whether the generated code can be extracted and reused in a different environment → if yes, that would be a great opportunity to use it as a reference for the physical system

  • The code that is generated from the model contains the length of desired simulation

• Krisztián: currently he is busy with this thesis and final exam, cannot predict his free time for summer yet