University of Twente Student Theses


Component-based modelling and simulation of a KUKA LWR+4 robotic arm

Luper, E.S. (2017) Component-based modelling and simulation of a KUKA LWR+4 robotic arm.

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Abstract:The objective of the project was to model a Kuka LWR 4+ in a component-based manner, and implement its dynamic model from 20-sim to Gazebo in a effort to set up the means for simulating a robot with co-simulation support. With Gazebo, simulated robots can be ran with the same software as their real counterparts, and the 20-sim import opens up bond graph support to gain insight in the dynamics of the systems. Dynamic modeling was mostly successful. A model of a robotic arm was realized using the serial-link structure approach, upholding the component-based goal. The arm was simulated, and kinematically behaved as expected in accordance to the model. However, simulation times were quick to get imprac- tically long with the use of explicit integration methods. This poses a problem, since c-code generation only supports explicit methods. With Gazebo's plug-in functionality, and 20-sim's class generation, importing dynamic models into Gazebo was a success. Design and testing of the software components was done successfully for the case of a simple mass-spring, and then extended upon to handle an arm of arbitrary number of links. In a comparison with an actual Kuka LWR 4+, the dynamic model did not give results that corre- sponded with the real arm.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Electrical Engineering BSc (56953)
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