Direct Physical Modeling and Automatic Code Generation for Mechatronics Simulation

Computational mechatronics analysis and design necessitates a strongly interacting multidisciplinary approach. It requires a multidisciplinary model building environment for computer-controlled physical systems, with automatic generation of efficient computer-executable model code. Using the available object-oriented modeling system Dymola, a complete six-axis industrial robot model is derived, including its multibody part, its electro-mechanical part, and its digital control part. The resulting computerexecutable model is in neutral Fortran DSblock format and hence reusable in any suited simulation run-time environment which allows the import of Fortran code.