The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

We present a hybrid representation for modeling of mechatronic systems. This representation consists of a linear graph and block diagrams and supports our concept of composable simulation. By composable simulation we mean the ability to automatically generate simulations from individual component models through manipulation of the corresponding physical components in a CAD system. The approach is based on an augmented system graph that represents the topology of the system. This graph captures all the interactions between different energy domains (including rigid-body mechanics, electrical, hydraulic, and information technology domains). This form of virtual prototyping will reduce the design cycle significantly by providing immediate feedback to the designer with minimal intervention of simulation and modeling specialists.

Notes

Associated Center(s) / Consortia: National Robotics Engineering Center

Associated Lab(s) / Group(s): Advanced Mechatronics Lab

Text Reference

Antonio Diaz-Calderon, Chris Paredis, and Pradeep Khosla, "Combining Information Technology Components and Symbolic Equation Manipulation in Modeling and Simulation of Mechatronic Systems," Proceedings of the 1999 IEEE International Symposium on Computer Aided Control System Design, August, 1999, pp. 144 - 150.

BibTeX Reference

@inproceedings{Diaz-Calderon_1999_3123,
   author = "Antonio Diaz-Calderon and Chris Paredis and Pradeep Khosla",
   title = "Combining Information Technology Components and Symbolic Equation Manipulation in Modeling and Simulation of Mechatronic Systems",
   booktitle = "Proceedings of the 1999 IEEE International Symposium on Computer Aided Control System Design",
   pages = "144 - 150",
   month = "August",
   year = "1999",
}

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