Modeling and simulation of the EMG30 geared motor with encoder resorting to simtwo: the official robot@factory simulator

• Type: Chapter or Part of a Book
• Date: 2013

Authors

José Gonçalves (Author) Other; José Lima (Author) Other; Paulo Gomes da Costa (Author) FEUP; António Paulo Moreira (Author) FEUP

Book

Title: Advances in Sustainable and Competitive Manufacturing Systems

1º Edition

Pages: 307-314

ISBN: 978-3-319-00556-0

Electronic ISBN: 978-3-319-00557-7

Publisher: Springer Publishing

Indexing

Scopus - 13 Citations

Other information

Authenticus ID: P-00K-36Q

DOI: 10.1007/978-3-319-00557-7_25

Abstract (EN): This paper describes the EMG30 mechanical and electrical modeling and its simulation resorting to SimTwo (Robot@Factory mobile robot competition official simulator). It is described the developed setup applied to obtain the experimental data that was used to estimate the actuator parameters. It was obtained an electro-mechanical dynamical model that describes the motor, its gear box, and the encoder. The motivation to model and simulate the EMG30 is the fact that it is an actuator worldwide popular in the mobile robotics domain, being a low cost 12v motor equipped with encoders and a 30:1 reduction gearbox. The Goal of this work is to provide more realism and new features to the Robot@Factory official simulator, allowing participating teams to produce and validate different robot prototypes and its software, reducing considerably the development time. © Springer International Publishing Switzerland 2013.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 8