scenarioRoboticArm

Overview

This scenario demonstrates the capabilities of Module: spinningBodyNDOFStateEffector, which represents an effector with \(N\) spin axes. The \(N\)-degree-of-freedom formulation allows the simulation of any number of attached rigid bodies with rotation capable about any axis. The spin axes and mass distribution of the rigid bodies are arbitrary.

The scenario consists of a box-shaped hub with an attached robotic arm. The arm consists of two links with spherical joints that can rotate about two different axis. Each joint degree of freedom is controlled through a profiler that moves the arm from the nominal position to a final desired angle.

The script is found in the folder basilisk/examples and executed by using:

python3 scenarioRoboticArm.py

The scenario outputs four plots: the time history of all angles, of all angle rates, of the hub’s attitude and of the hub’s angular velocity. The scenario also creates a comprehensive Vizard simulation which creates an appropriate to-scale model for the defined scenario.

Illustration of Simulation Results