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

• Tipo: Capítulo ou Parte de Livro
• Data: 2013

Autores

José Gonçalves (Autor) Outra; José Lima (Autor) Outra; Paulo Gomes da Costa (Autor) FEUP; António Paulo Moreira (Autor) FEUP

Livro

Título: Advances in Sustainable and Competitive Manufacturing Systems

1º Edição

Páginas: 307-314

ISBN: 978-3-319-00556-0

ISBN Eletrónico: 978-3-319-00557-7

Editora: Springer Publishing

Indexação

Scopus - 13 Citações

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 8