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Advanced Modeling & Simulation Techniques for Multibody Robotic Systems

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This webinar introduces new techniques and case studies for efficiently increasing the fidelity of system models for multibody robotic system design. Using symbolic computation techniques, multibody …

This webinar introduces new techniques and case studies for efficiently increasing the fidelity of system models for multibody robotic system design. Using symbolic computation techniques, multibody models can be effectively preprocessed to select optimal coordinate frames, eliminate redundant calculations, simplify algebraic constraints, and generate computationally minimal code for real-time deployment. Furthermore, novel mathematical techniques can be deployed for efficient parameter optimization and other advanced analysis.
Applications in robotics, including space and industrial robotics will be presented. The symbolic computation system Maple and the related modeling system MapleSim will be used to illustrate examples.
Attend this webinar to learn:
– How symbolic formulations can increase simulation speed without reducing model fidelity
– How high fidelity models can accelerate design time, reduce costly design errors, and ultimately improve the functional performance of robotics systems

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  • 1. Advanced Modeling & Simulation Techniques for Multibody Robotic Systems
  • 2. Before We Start This webinar will be available afterwards at designworldonline.com & email Q&A at the end of the presentation Hashtag for this webinar: #DWwebinar
  • 3. Moderator Presenters Laura Carrabine Paul Goossens Dr. Amir Khajepour Design World Maplesoft University of Waterloo
  • 4. Paul Goossens, VP of Applications Engineering, Maplesoft Dr. Amir Khajepour, President, AEMK Systems, and Professor, Mechanical Engineering © 2012 Maplesoft, a division of Waterloo Maple Inc.
  • 5. • Introduction – Challenges in Model-based design and development • Case Studies:  Space Applications oPlanetary Rovers Automotive Applications oPulsed Active Steering Robotics Applications oCable-based Parallel Robot • Summary - Maplesoft Engineering Solutions • Q&A © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 6. “Virtual” Prototyping through Model-based Design and Development plays an increasingly key role in system design, commissioning and testing. •Increasing adoption of MBD and simulation • Reduce prototyping cycles and costs • Increase end-user functionality, quality, safety and reliability • Deterministic, repeatable testing platform Connection to real components with virtual subsystems through Hardware-in-the-Loop (HIL) Testing is critical to this strategy • Validation of subcomponents and/or controllers before integrating into the vehicle reduces errors and costs • Validation of the model against the real thing improves the whole process, dramatically reducing development cycles and time-to-market in the future Greater demand for greater model fidelity… © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 7. Tasks Scalability Capacity Number of functions (Complexity) © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 8. Capacity Tasks Scalability Number of functions (Complexity) Inputs Multi-domain Modeling Engine/ Powertrain Torque/Speed Apply Load??? Driveline Torque/Speed Chassis/Tire © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company Outputs
  • 9. Capacity Tasks Scalability Number of functions (Complexity) Inputs Multi-domain Modeling Engine/ Powertrain Torque/Speed Apply Load??? Driveline Torque/Speed Chassis/Tire Real-time Performance © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company Outputs
  • 10.  Space Applications o Planetary Rovers  Automotive Applications o Pulsed Active Steering  Robotics Applications o Cable-based Parallel Robot © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 11. System Components Wheels Solar cells Wheel motors Battery Power electronics Heaters Robotic arms, other peripherals Analysis Terrain Environment Rover simulation and animation © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 12. Six-wheeled Rocker-Bogie Rover Modeling Environment Steering angle input Visualization Environment Angular velocity input © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 13. Planetary Rovers: Dynamic Modeling in MapleSim Component Library in MapleSim Component Library Dynamic Model © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 14. Planetary Rovers: Dynamic Modeling in MapleSim Custom Components © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 15. Planetary Rovers: Dynamic Modeling in MapleSim Movie No. 1 © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 16. Planetary Rovers: Component Modeling and HIL Irradiation on Mars - MapleSim Model © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 17. Planetary Rovers: Component Modeling and HIL Solar Cells Model in MapleSim © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 18. Planetary Rovers: Component Modeling and HIL LabVIEW™ Model for Hardware/Software MapleSim Connector for LabVIEW™ © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 19. Planetary Rovers: Component Modeling and HIL LabVIEW™ Model for Hardware/Software © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 20. Planetary Rovers: Component Modeling and HIL Hardware in the Loop Overview Input Path Planning Optimization Measurements & Data Logging Software Hardware (Test Bench) Halogen Lamps Component Modeling Solar Panels Irradiation Model Rover Kinematics Vehicle - position - orientation - tilt Solar Panels Battery Motor Vehicle Speed Power Consumption (Driving) NI® PXI Light Intensity Charge Controller Temperature Battery Current LabVIEW™ 2009 HIL Graphical User Interface Inverter Voltage Load Simulator Motor Angular Position CVT Angular Velocity Flywheel © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 21. Planetary Rovers: Component Modeling and HIL HIL Graphical User Interface © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 22. Pulsed Active Steering: Introduction What is Active Steering? Control System that adds/subtracts a steering angle to the drivers steering input Controller Has Two Effects: 1. Rollover Prevention 2. Lower Path Following Deviation δc Actuator δ Nδ Vehicle Dynamic Sensors © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 23. Pulsed Active Steering: HIL Experiment Vehicle Model in MapleSim Basic Vehicle Model with input/output signals for simulation © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 24. Pulsed Active Steering: HIL Experiment Real-time Simulink® Program *MATLAB and Simulink are registered trademarks of The Mathworks, Inc. All other trademarks are the property of their respective owners. © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 25. Pulsed Active Steering: HIL Experiment © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 26. Pulsed Active Steering: HIL Experiment Graphic User Interface © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 27. Pulsed Active Steering: HIL Experiment Movie No. 2 © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 28. Cable Based Parallel Robots: DeltaBot™ Cable Robot • Parallel Robot – Low Inertia: Actuating motors are located at base and motor inertia is not part of the system – High Speed: Less inertia means less required torque, and more power available for speed • Cable Based Robot – Use cables under tension in place of solid links – Apply spine force on end-effector to keep cables under tension – Less inertia compared to solid links – Achieve even higher speed © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 29. Cable Based Parallel Robots: DeltaBot™ Cable Robots, 2 and 3 translational and 1 rotational DOF © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 30. Cable Based Parallel Robots: DeltaBot™ Cable Robot MapleSim Model © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 31. Cable Based Parallel Robots: DeltaBot™ Cable Robot (2-Axis) Construction Steps • Define ground points © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 32. Cable Based Parallel Robots: DeltaBot™ Cable Robot (2-Axis) Construction Steps • Create model of arm using Multibody library components • Rigid body center of mass • Rigid body frame (links) • Visualization component © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 33. Cable Based Parallel Robots: DeltaBot™ Cable Robot (2-Axis) Construction Steps • • • Define parameters for the arm Define default values of parameters Parameters are unique to each instance of shared subcomponent © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 34. Cable Based Parallel Robots: DeltaBot™ Cable Robot (2-Axis) Construction Steps • • Attach arms to grounds using revolute joints Define initial conditions for revolute joints © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 35. Cable Based Parallel Robots: DeltaBot™ Cable Robot (2-Axis) Construction Steps • • Construct model of triangle assembly Convert it to subcomponent and connect it to the main model © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 36. Cable Based Parallel Robots: DeltaBot™ Cable Robot (2-Axis) Construction Steps • • Create model of cable Use a custom spring with a slider © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 37. Cable Based Parallel Robots: DeltaBot™ Cable Robot (2-Axis) Cable Model using Custom Spring Very high spring constant under tension No spring constant under compression Cannot stretch but able to collapse spring constant vs. displacement 6.00E+05 Spring Constant K (N/m) • • • -8 5.00E+05 4.00E+05 Compression Tension 3.00E+05 2.00E+05 1.00E+05 -6 -4 0.00E+00 -2 0 2 4 6 Displacement (m) © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 38. Cable Based Parallel Robots: DeltaBot™ Cable Robot (2-Axis) Construction Steps • • Create subcomponent consisting of pair of cables and spherical joints Connect cables to the main model © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 39. Cable Based Parallel Robots: DeltaBot™ Cable Robot (2-Axis) Construction Steps • Create model of end-effector subcomponent © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 40. Cable Based Parallel Robots: DeltaBot™ Cable Robot (2-Axis) Construction Steps • Add cylinder to the main model © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 41. Cable Based Parallel Robots: DeltaBot™ Cable Robot (2-Axis) Final Model for Simulation © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 42. Cable Based Parallel Robots: DeltaBot™ Cable Robot (2-Axis) Sample Generated Plots • • Red: Cable Tension Blue: Arm Torque • Tension is becoming negative in this particular motion Try increasing spine force • © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 43. Cable Based Parallel Robots: DeltaBot™ Cable Robot (2-Axis) Sample Generated Plots (Revised Simulation) • • Red: Cable Tension Blue: Arm Torque • • Increased spine force Tension is now always positive for this particular motion • Drawback: Increased torque requirement © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 44. Cable Based Parallel Robots: DeltaBot™ Cable Robot Movie No. 3 © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 45. MapleSim is a truly unique physical modeling tool: • Built on a foundation of symbolic computation technology • Handles all of the complex mathematics involved in the development of engineering models • Multi-domain systems, plant modeling, control design • Leverages the power of Maple to take advantage of extensive analytical tools • Reduces model development time from months to days while producing highfidelity, high-performance models © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 46. -dSPACE® -LabVIEW™ -NI® VeriStand™ -MATLAB® & Simulink® -B&R Automation Studio Driveline Component Library More Libraries © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company *Simulink and MATLAB are registered trademark of The Mathworks, Inc. All other trademarks are property of their respective owners.
  • 47. Advanced analysis Parameter optimization Automatic Equation Generation Sensitivity etc Multibody kinematics and dynamics Greater insight into system behavior Best performance Symbolic model simplification Optimized code generation ~10x faster than similar tools Equation-based Model Creation Enter system equations Test/Validate model Easy component block generation © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 48. Equation and code generation Controller implementation (and design) Real-time management Embedded controller Data acquisition Plant model Analysis Controller design -dSPACE® -LabVIEW™ -NI® VeriStand™ -MATLAB® & Simulink® -B&R Automation System HIL Simulation Studio © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company *Simulink and MATLAB are registered trademark of The Mathworks, Inc. All other trademarks are property of their respective owners.
  • 49. • Physical modeling: increasingly important – and increasingly complex – in systems design, testing and integration. • Symbolic technology: proven engineering technology that significantly improves model fidelity without sacrificing real-time performance. • MapleSim: ideal tool for rapid development of high-fidelity physical models of mechatronics systems to help engineers achieve their design goals. © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 50. Thank You! Questions? To stay connected: www.maplesoft.com/subscribe © 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
  • 51. Questions? Design World Laura Carrabine lcarrabine@wtwhmedia.com Phone: 440.234.4531 Twitter: @wtwh_laurac Maplesoft Paul Goossens pgoossens@maplesoft.com www.maplesoft.com/subscribe University of Waterloo Dr. Amir Khajepour a.khajepour@uwaterloo.ca
  • 52. Thank You  This webinar will be available at designworldonline.com & email  Tweet with hashtag #DWwebinar  Connect with  Twitter: @DesignWorld  Facebook: facebook.com/engineeringexchange  LinkedIn: Design World Group  YouTube: youtube.com/designworldvideo  Discuss this on EngineeringExchange.com