{"id":3061,"date":"2020-10-29T17:03:25","date_gmt":"2020-10-29T15:03:25","guid":{"rendered":"https:\/\/www.digifai.com\/neues\/we-can-simulate-cobots\/"},"modified":"2025-06-13T09:04:16","modified_gmt":"2025-06-13T07:04:16","slug":"we-can-simulate-cobots","status":"publish","type":"post","link":"https:\/\/www.digifai.com\/en\/neues\/we-can-simulate-cobots\/","title":{"rendered":"We Can Simulate Cobots!"},"content":{"rendered":"

[vc_row padding_top_multiplier=”4x” padding_bottom_multiplier=”4x” section_id=”introtext”][vc_column][vc_column_text]Some time ago, the company Eberle Automatische Systeme raised the essential question of whether the real behavior of a cobot, a collaborative robot, can be simulated.<\/p>\n

In the context of a resulting master thesis titled “Simulation of Collaborative Robotics”, this research question was explored in detail.<\/p>\n

But Just What Exactly Does This Mean?<\/strong><\/p>\n

Well, in reality, for example, the robot collides with an object and its path is changed due to this collision. Or a collaborative robot deliberately moves onto an object up to a certain disruption moment in order to then carry out a subsequent work step. To date, this has been working quite reliably in practice \u2013 but can such requirements be simulated as well<\/em>?<\/p>\n

The complete simulation of cobots<\/strong>, meaning the realistic simulation in combination with reactions to unforeseen or deliberate collisions with the surroundings, has so far not been developed by any robot manufacturer<\/strong>.<\/p>\n

The result of this master thesis shows how robots can be simulated realistically and react dynamically to collisions. The implementation is carried out in combination with the virtual commissioning on a digital twin using the simulation software twin<\/a>.<\/p>\n

Based on tests, it was determined that the Robot Controller Simulation Module<\/strong> (in short RCS Module<\/em>), a virtual robot controller for realistic simulation, in combination with virtual commissioning, is most suitable.[\/vc_column_text]

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<\/div>[vc_column_text]How Can This Be Implemented?<\/strong><\/p>\n

To be able to simulate dynamic collisions and robot interactions, a possibility was developed to calculate disturbance variables occurring during the collision using a solid state simulation. The resulting dynamic behavior of the robot is calculated in the controller during the collision, based on the feedback of disturbance variables (as shown in the illustration).<\/p>\n

In order to be able to take into account returned disturbing forces and moments, the universally valid basic dynamic equations according to Newton-Euler were extended. The extension is incorporated into the mathematical description of the robot model.<\/p>\n

For verification purposes, a simplified prototype of an RCS module was created, which allows a robot to be controlled in the twin simulation environment and dynamically react to collisions and interactions.<\/p>\n

Core and key of this project was the interaction of robot control, solid state and multiphysics simulation using “OpenModelica”.[\/vc_column_text]

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