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Impacts of Product Lifecycle and Production System Design on Competitive and Sustainable Production Read chapter Read first chapter

2013 | OriginalPaper | Chapter

Modeling and Simulation of the EMG30 Geared Motor with Encoder Resorting to SimTwo: The Official Robot@Factory Simulator

Authors : José Gonçalves, José Lima, Paulo J. Costa, A. Paulo Moreira

Published in: Advances in Sustainable and Competitive Manufacturing Systems

Publisher: Springer International Publishing

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Abstract

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.

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Metadata
Title
Modeling and Simulation of the EMG30 Geared Motor with Encoder Resorting to SimTwo: The Official Robot@Factory Simulator
Authors
José Gonçalves
José Lima
Paulo J. Costa
A. Paulo Moreira
Copyright Year
2013
Publisher
Springer International Publishing
Book
Advances in Sustainable and Competitive Manufacturing Systems

Print ISBN: 978-3-319-00556-0

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

Copyright Year: 2013

DOI
https://doi.org/10.1007/978-3-319-00557-7_25

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