AxisType2Axis model of the r3 joints 4,5,6 
This information is part of the Modelica Standard Library maintained by the Modelica Association.
The axis model consists of the controller, the motor including current controller and the gearbox including gear elasticity and bearing friction. The only difference to the axis model of joints 4,5,6 (= model axisType2) is that elasticity and damping in the gear boxes are not neglected.
The input signals of this component are the desired angle and desired angular velocity of the joint. The reference signals have to be "smooth" (position has to be differentiable at least 2 times). Otherwise, the gear elasticity leads to significant oscillations.
Default values of the parameters are given for the axis of joint 1.
kp 
Value: 10 Type: Real Description: Gain of position controller 

ks 
Value: 1 Type: Real Description: Gain of speed controller 
Ts 
Value: 0.01 Type: Time (s) Description: Time constant of integrator of speed controller 
k 
Value: 1.1616 Type: Real Description: Gain of motor 
w 
Value: 4590 Type: Real Description: Time constant of motor 
D 
Value: 0.6 Type: Real Description: Damping constant of motor 
J 
Value: 0.0013 Type: Inertia (kg·m²) Description: Moment of inertia of motor 
ratio 
Value: 105 Type: Real Description: Gear ratio 
Rv0 
Value: 0.4 Type: Torque (N·m) Description: Viscous friction torque at zero velocity in [Nm] 
Rv1 
Value: 0.13 / 160 Type: Real (N·m·s/rad) Description: Viscous friction coefficient in [Nms/rad] 
peak 
Value: 1 Type: Real Description: Maximum static friction torque is peak*Rv0 (peak >= 1) 
flange 
Type: Flange_b 


axisControlBus 
Type: AxisControlBus 
gear 
Type: GearType2 


motor 
Type: Motor 

controller 
Type: Controller 

angleSensor 
Type: AngleSensor 

speedSensor 
Type: SpeedSensor 

accSensor 
Type: AccSensor 

initializeFlange 
Type: InitializeFlange 

const 
Type: Constant 
Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3 Six degree of freedom robot with path planning, controllers, motors, brakes, gears and mechanics 
Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components Axis model of the r3 joints 1,2,3 