![]() Actuator dynamics: You can use Simscape to build more detailed actuator models.Once you have an actuator model, you can use Simulink to design a controller and test it in simulation before deploying it. for electric actuators) needed for your actuator to perform as desired. This lets you determine the power (for example, current, torque, etc. Actuator control: By prescribing motion to an actuator model in Simscape, you can first perform actuator sizing.Actuator modeling consists of two parts: one on the controller side, and one on the robot side. However, in previous releases you can use the Simscape Multibody Contact Forces Library on File Exchange.Īs shown in the simulation architecture diagram earlier, the actuator is the “glue” between the algorithm and the model (or robot). Starting with R2019b, you can do this using the Spatial Contact Force block in Simscape Multibody. Equally important for legged robots, you need to model contact with the ground. External mechanics: First, you can set up the direction and magnitude of gravity.Internal mechanics: Every Joint block (translational or rotational) in the model can be assigned mechanical stiffness, damping, and initial conditions.Regardless of how you create the robot model, the next step is to add dynamics to it. For more information, look at our blog post on importing CAD assemblies. So long as the kinematics of the CAD model remain the same, you can make changes in CAD and reimport the parameters into your model. Import from CAD: Useful if you have already created a robot model and want to simulate its dynamics using more realistic geometric and inertial properties.If you are still in the conceptual design phase, this can be useful as you sweep through different parameters and validate your design. However, if set up correctly, you can easily change properties such as dimensions, cross-sections, masses, etc. Build from scratch: It may take some initial time to build a model from scratch.Simscape Multibody lets you model the 3D rigid body mechanics of your robot. Depending on your goals, you may only need to implement a subset of these for your simulation. We will now look at a typical robot simulation architecture, which consists of multiple layers. ![]() This separation of algorithm and implementation can also help you determine whether new issues are due to algorithm changes or physical limitations. If your robot is controlled by an embedded system, simulation lets you test algorithm changes without having to port and rebuild the code on hardware every time. With simulation, you get a programmatic environment to automate experiments and walk away from your desk. Efficiency: Physical experiments take time and effort to set up and reset between runs.In simulation, you also get the benefit of intentionally generating unsafe conditions, as well as discovering unexpected issues. Simulation lets you test your robot and controller design under multiple scenarios without building prototypes. You can verify that controls algorithms are at a good starting point in simulation before moving to hardware. To put things in context, I will walk you through a walking robot example (get it?).įirst of all… why simulate? I’ve broken down the benefits into two categories. In this post, I will discuss robot modeling and simulation with Simulink®, Simscape™, and Simscape Multibody™.
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