Co-Simulation Approach for Design and Control of Robotic Systems

The robotic systems are constituted by some different parts, such as: electronic, mechanical, electrical, hydraulic parts, etc. In traditional design approaches the different components are designed separately by different workgroups and the integration of the whole system is executed in the final stage. With the co-simulation approach the integration of subsystems is realised in simulation stage with a reduction of time and cost. As an example is illustrated a particular application to the motion planning of a Robot Arm with Non-Rigid Transmission where the mechanical subsystem is realised with ADAMS and the actuator and control subsystem is realised with Matlab-Simulink.