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The 14th International Modelica Conference
Linköping, September 20-24, 2021

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Papers by Paolo Campanini

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 Creative Commons License / 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}
}