Multiplatform modelling for the control of an articulated system

Abstract

In this paper a couple of mechanical simulation softwares have been worked with. One has been used for representing the physics and dynamics of mechanisms (Gazebo) and the other one has the control of the system (Simulink), the way to interconnect them is through 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