Papers by Gianni Ferretti

Title:	Object-Oriented Models of Parallel Manipulators
Authors:	Paolo Campanini and Gianni Ferretti
Abstract:	In this paper, the development of Digital Twins of parallel manipulator is described, based on components of the Modelica standard library only. At first, the dynamic model of a Delta robot is illustrated and validated with respect to experimental data. Then, the model of a Stewart platform is discussed. Thanks to the symbolic manipulation capabilities of the OpenModelica compiler, the model is then used to automatically generate the inverse dynamics, which is in general is a quite difficult task to be performed manually.
Keywords:	Object-oriented modelling, Simulation, Parallel manipulators, Modelica, DAE systems, Closed chains
Paper:	full paper / library
Bibtex:	@InProceedings{modelica.org:Campanini:2021, title = "{Object-Oriented Models of Parallel Manipulators}", author = {Paolo Campanini and Gianni Ferretti}, pages = {241--248}, doi = {10.3384/ecp21181241}, booktitle = {Proceedings of the 14th International Modelica Conference}, location = {Link\"oping, Sweden}, editor = {Martin Sj\"olund and Lena Buffoni and Adrian Pop and Lennart Ochel}, isbn = {978-91-7929-027-6}, issn = {1650-3740}, month = sep, series = {Link\"oping Electronic Conference Proceedings}, number = {181}, publisher = {Modelica Association and Link\"oping University Electronic Press}, year = {2021} }