Publicación: Modelado multiplataforma para el control de sistemas mecánicos
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2022
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info:eu-repo/semantics/openAccess
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['Universidad Nacional de Educación a Distancia (España)', 'Universidad Politécnica de Madrid. Departamento de Ingeniería Mecánica']
Resumen
En el presente artículo se ha trabajado con las herramientas de simulación de sistemas mecánicos Gazebo y Simulink, realizando una interconexión entre ambos con el fin de desglosar la parte dinámica y cinemática de la parte de control, obtención y tratamiento de datos. La vía de enlace entre ambos programas se realiza mediante otro software de comunicación, ROS. Con todo ello, se ha conseguido la cosimulación de un mecanismo articulado en la cual, Simulink comanda trayectorias a Gazebo a través de pares en articulaciones, Gazebo envía los valores de posición articular de la simulación a Simulink, y mediante el control multiarticular de pares realimentados diseñado en este último programa, se minimiza el error entre la trayectoria simulada y la ideal. La obtención de los parámetros del modelo dinámico requeridos en el control se ha realizado mediante una librería de Matlab (Lib_3D_MEC_Matlab) de análisis de sistemas multicuerpo desarrollada por la UPNA
In this paper a couple of mechanical simulation softwares have been worked with. One has been used for representating the physics and dynamics of mechanisms (Gazebo) and the other one has the control of the system (Simulink), the way to interconnecting them is by means of Robot Operating System software (ROS). Thus, a co-simulation of an articulated mechanism has been realised in which Simulink commands an ideal trajectory to Gazebo sending joints torques. Gazebo provides joint position values of the simulation to Simulink, and through its control system, the error between the real and the ideal trajectory gets smaller sending again the correct amount of torque to Gazebo, that works step by step during the simulation. In addition, the dynamic model parameters required by the control system have been calculated using a Matlab’s library for the analysis of multibody system (Lib_3D_MEC_Matlab), which had been developed by the Public University of Navarra.
In this paper a couple of mechanical simulation softwares have been worked with. One has been used for representating the physics and dynamics of mechanisms (Gazebo) and the other one has the control of the system (Simulink), the way to interconnecting them is by means of Robot Operating System software (ROS). Thus, a co-simulation of an articulated mechanism has been realised in which Simulink commands an ideal trajectory to Gazebo sending joints torques. Gazebo provides joint position values of the simulation to Simulink, and through its control system, the error between the real and the ideal trajectory gets smaller sending again the correct amount of torque to Gazebo, that works step by step during the simulation. In addition, the dynamic model parameters required by the control system have been calculated using a Matlab’s library for the analysis of multibody system (Lib_3D_MEC_Matlab), which had been developed by the Public University of Navarra.
Descripción
Categorías UNESCO
Palabras clave
robótica, cosimulación, diseño de control
Citación
Centro
E.T.S. de Ingenieros Industriales
Departamento
Mecánica