VRML Simulation

To get a VRML representation of my model, I had modeled BoRam in CATIA, then exported to VRML and used Simulink VRML Toolbox to visualize the simulation. Besides being able to get a complex model in VRML quite easily there is another advantage of modeling in CATIA. You can apply physical material properties to the individual parts and get full information regarding CG, or moment of inertia of the full
assembly.

The response of my model took tediously long time with my laptop, so I had to create a simplified model. I did this also with CATIA. Then I tested if the motion was correctly reflected in the Virtual model as well as whether the Transformation groups were defined correctly and then knowing that it works, I swapped the simplified model to my complex model. I used the video recording option to render the simulation in real-time.

simulink-vrml.png
vrml-simple.png
vrml-robot.png

I wanted to test various situations for BoRam, to see if BoRam could survive in any given hazardous environments like the ones we live in. As for the reference input, I gave 20cm step input starting at 1 sec, then beginning at 2 sec, I added periodic impulse angular velocity to the body with magnitude of 0.1 rad/s, width of 0.2 seconds, for every 2 seconds. Finally I put 0.1 rad of offset to the body, to mimic the CG has changed. These disturbance was put into test. The result was a success; LQR control algorithm could really reject disturbances.

vrml-outputs.png
vrml-input.png

The top figure shows the output states; $x$ in yellow and $\theta$ in pink. The bottom figure shows the input voltage to the motors.

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