Simulation of electrically-driven robot manipulators

A systematical, highly modular approach exploiting the electromechanical analogy and the modified nodal analysis is proposed to assemble and simulate a robot drive train. A polymorphism-based architecture is introduced to handle both electrical and mechanical constituting components. Torques needed to drive a simulated 6-DoF robot manipulator to a given joints configuration are commanded and provided in a two stage position and torque control scheme. Simulation results illustrate the effectiveness and usability of the approach, thus highlighting its potential contributions to the recently introduced eRobotics concept.