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Modelling and Learning for Dynamical Systems (TSRT92)
Lab 1 - Robot modelling
The goal is to find a model for a part of a robot arm and to verify it in simulations.
- You will find the lab instructions here.
The robot is used to perform accurate measurements. The robot arm has a sensor which is activated upon contact with some object. By letting the sensor approach two surfaces the distance can be calculated.
Matlab and Simulink
For those who need to refresh their knowledge of Matlab/Simulink a lot of info is available at
There is even a small local guide to Simulink, here (Swedish only, notice that some details may differ w.r.t. the Simulink version available in the computer labs).
Modelica and MathModelica
Modelica has a large number of model libraries, both free and commercial. You can find out more at Modelica website
In the course labs we use a small fraction of Modelica standard libraries
- Electrical.Analog.Basic (p. 225-234)
- Electrical.Analog.Sources (p. 265-275)
- Mechanical.Rotational (p. 677-724)
- Mechanical.Translational (p. 725-760)
- here (1711 pages, 12,6 MB).
- The pages used are available also here (111 pages, 2,7 MB).
As preparation to the lab it is recommended that you look at Chapter 1-5 (and most of all Chapter 3) in